Speed limit control system and method based on Internet of Vehicles, electronic equipment and storage medium

Abstract

The invention discloses a speed limit control system and method based on the Internet of Vehicles, electronic equipment and a storage medium, and the system comprises an image collection module, a laser radar module, an edge calculation unit, a communication module, a cloud platform, a vehicle-mounted controller, a roadside controller and the Internet of Vehicles technology. The early warning information of the vehicle relative to the obstacle is accurately determined, the vehicle-mounted display device of the vehicle is controlled through the vehicle-mounted controller to display the early warning information, the vehicle speed is controlled according to the early warning information, and the running state of the speed limiting device on one side or two sides of the road is controlled through the road side controller according to the early warning information. In this way, people in the vehicle can conveniently know the early warning information in time through the early warning information displayed by the vehicle-mounted display device, response can be made conveniently, the vehicle speed can be automatically controlled when the people in the vehicle do not see the early warning information displayed by the vehicle-mounted display device, meanwhile, the people in the vehicle can conveniently know the early warning information in time through the running state of the speed limiting device, and the safety of the vehicle is improved. And the driving safety of the vehicle is comprehensively ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a speed limit control system, method, electronic device and storage medium based on an Internet of Vehicles. Background Art

[0002] Currently, the development of vehicle autonomous driving technology and vehicle-road collaborative technology together constitutes a smart travel network. However, when temporary obstacles appear on the road, they need to be discovered manually and temporary speed limit signs need to be set up. This is inefficient and causes message delays, resulting in traffic congestion, and it is even impossible for autonomous vehicles to communicate in a timely manner. Therefore, how roads can provide timely and intelligent temporary speed limit reminders and control for autonomous vehicles needs to be solved. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a speed limit control system, method, electronic device and storage medium based on the Internet of Vehicles.

[0004] The present invention proposes a speed limit control system based on an Internet of Vehicles, comprising: an image acquisition module, disposed on one or both sides of a road, for acquiring first obstacle information on the road and first vehicle information of the vehicle; a lidar module, disposed on one or both sides of the road, for acquiring second obstacle information on the road and second vehicle information of the vehicle; an edge computing unit, for determining a warning signal for the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information, and transmitting the warning signal to a cloud platform via a communication module; the communication module, for enabling data transmission between the cloud platform, a roadside controller, an onboard controller, and the edge computing unit; the cloud platform, for determining warning information for the vehicle relative to the obstacle based on the warning signal, and transmitting the warning information to the onboard controller and the roadside controller, respectively, via the communication module; the onboard controller, for controlling an onboard display device of the vehicle to display the warning information and to control the vehicle speed based on the warning information; and the roadside controller, for controlling the operating status of speed limit devices on one or both sides of the road based on the warning information.

[0005] According to the speed limit control system based on the Internet of Vehicles embodiment of the present invention, by combining an image acquisition module, a lidar module, an edge computing unit, a communication module, a cloud platform, an on-board controller, a roadside controller and Internet of Vehicles technology, it is possible to accurately determine the warning information of the vehicle relative to an obstacle, and control the vehicle-mounted display device of the vehicle to display the warning information and control the vehicle speed according to the warning information through the on-board controller, and control the operating status of the speed limit device on one or both sides of the road according to the warning information through the roadside controller. This not only makes it convenient for occupants of the vehicle to promptly understand the warning information through the on-board display device and facilitate their response, but also facilitates automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0006] In addition, the speed limit control system based on the Internet of Vehicles according to an embodiment of the present invention may also have the following additional technical features:

[0007] Furthermore, the speed limiting device includes a first speed limiting component and a second speed limiting component that can move along the direction of the road, and the first speed limiting component and the second speed limiting component are respectively located on both sides of the obstacle along the direction of the road, the first speed limiting component includes a first display that can be extended and retracted along the vertical direction of the road, and the second speed limiting component includes a second display that can be extended and retracted along the vertical direction of the road; when controlling the operating status of the speed limiting device on one side or both sides of the road according to the warning information, the on-board controller is used to: according to the warning information, control the first speed limiting component and the second speed limiting component to move to the target position respectively, and control the first display and the second display to extend from the vertical direction of the road to display the warning information above the road; thereby, the vehicle is warned at an appropriate distance, making it convenient for people in the vehicle to timely understand the warning information through the first display and the second display, thereby ensuring the driving safety of the vehicle.

[0008] Furthermore, the first obstacle information and the second obstacle information both include a first distance and a second distance of the obstacle relative to both sides of the road, and the first vehicle information and the second vehicle information both include the vehicle width, the vehicle speed and the third distance relative to the obstacle; when determining the warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information and the second vehicle information, the edge computing unit is used to: determine the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed; thereby, the motion state, position state and possibility of collision of the vehicle relative to the obstacle can be accurately determined, thereby accurately determining the warning signal of the vehicle relative to the obstacle.

[0009] Furthermore, when determining a warning signal for the vehicle relative to an obstacle based on the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed, the edge computing unit is configured to: determine a first warning signal for the vehicle relative to the obstacle when the first distance is greater than a first preset distance, and transmit the first warning signal to a cloud platform via the communication module; the cloud platform is configured to determine first warning information for the vehicle relative to the obstacle based on the first warning signal, and transmit the first warning information to the onboard controller and the roadside controller, respectively, via the communication module; the onboard controller is configured to control an onboard display device of the vehicle to display the first warning information; and the roadside controller is configured to control the first speed limiter assembly and the second speed limiter assembly to move to a first target distance from both sides of the obstacle, respectively, based on the first warning information, and control the first and second displays to extend perpendicularly from the road to display the first warning information above the road. This facilitates occupants of the vehicle to promptly view the first warning information via the first and second displays, thereby notifying them of the presence of an obstacle affecting traffic, and prompting the driver to slow down or maneuver to avoid the obstacle, thereby ensuring driving safety of the vehicle.

[0010] Furthermore, when determining the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, the edge computing unit is also used to: after determining the first warning signal of the vehicle relative to the obstacle, determine the warning signal of the vehicle relative to the obstacle based on the third distance and the vehicle speed; in this way, based on the distance and speed of the vehicle relative to the obstacle, the possibility of the vehicle colliding at the current speed and current distance can be accurately determined, thereby accurately determining the warning signal of the vehicle relative to the obstacle.

[0011] Furthermore, when determining the warning signal of the vehicle relative to the obstacle based on the third distance and the vehicle speed, the edge computing unit is used to: when the third distance is less than or equal to the second preset distance, determine the warning signal of the vehicle relative to the obstacle based on the vehicle speed, wherein the second preset distance is greater than the first preset distance; in this way, a corresponding reminder signal can be issued according to the vehicle speed to avoid danger caused by failure to avoid obstacles in time due to excessively high vehicle speed, thereby ensuring the safety of vehicle driving.

[0012] Furthermore, when determining the warning signal of the vehicle relative to the obstacle based on the vehicle speed, the edge computing unit is used to: when the vehicle speed is greater than a first preset speed, determine the second warning signal of the vehicle relative to the obstacle, and transmit the second warning signal to the cloud platform through the communication module; the cloud platform is used to determine the second warning information of the vehicle relative to the obstacle based on the second warning signal, and transmit the second warning information to the on-board controller and the roadside controller respectively through the communication module; the on-board controller is used to control the on-board display device of the vehicle to display the second warning information; the roadside controller is used to determine the second warning information of the vehicle relative to the obstacle based on the second warning signal The second warning information controls the first speed limiting component and the second speed limiting component to move to second target distances on both sides of the obstacle, respectively, and controls the first display and the second display to extend perpendicularly from the road to display the second warning information above the road, wherein the second target distance is greater than the first target distance. In this way, the second warning information is displayed to occupants of the vehicle via the on-board display device, the first display, and the second display at the second target distance farther from the obstacle, so as to remind the driver to slow down or make an evasive maneuver, thereby avoiding danger caused by failure to avoid the obstacle in time due to excessive speed, thereby ensuring the safety of vehicle driving.

[0013] Furthermore, when determining the warning signal of the vehicle relative to the obstacle based on the vehicle speed, the edge computing unit is used to: when the vehicle speed is greater than the second preset speed and less than or equal to the first preset speed, determine the third warning signal of the vehicle relative to the obstacle, and transmit the third warning signal to the cloud platform through the communication module; the cloud platform is used to determine the third warning information of the vehicle relative to the obstacle based on the third warning signal, and transmit the third warning information to the on-board controller and the roadside controller respectively through the communication module; the on-board controller is used to control the on-board display device of the vehicle to display the third warning information; the roadside controller is used to According to the third warning information, the first speed limiting component and the second speed limiting component are controlled to move to a third target distance from both sides of the obstacle, respectively, and the first display and the second display are controlled to extend from the vertical direction of the road to display the third warning information above the road, wherein the third target distance is greater than the first target distance. In this way, the third warning information is displayed to the occupants of the vehicle through the on-board display device, the first display, and the second display at a distance farther from the third target distance from the obstacle, so as to remind the driver to slow down or make an evasive action, thereby avoiding danger caused by failure to avoid the obstacle in time due to high speed, thereby ensuring the safety of vehicle driving.

[0014] Furthermore, when determining a warning signal for the vehicle relative to an obstacle based on the vehicle speed, the edge computing unit is configured to: when the vehicle speed is less than or equal to a second preset speed, determine a fourth warning signal for the vehicle relative to the obstacle, and transmit the fourth warning signal to the cloud platform via the communication module; the cloud platform is configured to determine fourth warning information for the vehicle relative to the obstacle based on the fourth warning signal, and transmit the fourth warning information to the on-board controller and the roadside controller, respectively, via the communication module; the on-board controller is configured to control an on-board display device of the vehicle to display the fourth warning information; and the roadside controller is configured to control the first speed limiting component and the second speed limiting component to maintain a first target distance from both sides of the obstacle, and to control the first display and the second display to extend perpendicularly from the road to display the fourth warning information above the road, based on the fourth warning information. In this way, when the vehicle speed is slow, there is no need for a prior warning; the fourth warning information is displayed to occupants of the vehicle via the on-board display device, the first display, and the second display, while the vehicle maintains the first target distance from both sides of the obstacle, thereby prompting the driver to decelerate or maneuver, thereby ensuring vehicle safety.

[0015] Furthermore, when determining the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, the edge computing unit is also used to: after determining the first warning signal of the vehicle relative to the obstacle, determine the warning signal of the vehicle relative to the obstacle based on the second distance and the vehicle width; in this way, it is possible to accurately determine whether the vehicle can avoid the obstacle and pass through the road based on the vehicle width and the width of the obstacle-free side of the road, thereby accurately determining the warning signal of the vehicle relative to the obstacle.

[0016] Furthermore, when determining a warning signal for the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit is configured to: when the difference between the second distance and the vehicle width is greater than a first preset safety distance, determine a fifth warning signal for the vehicle relative to the obstacle, and transmit the fifth warning signal to the cloud platform via the communication module; the cloud platform is configured to determine fifth warning information for the vehicle relative to the obstacle based on the fifth warning signal, and transmit the fifth warning information to the onboard controller and the roadside controller, respectively, via the communication module; the onboard controller is configured to control the onboard display device of the vehicle to display the fifth warning information, and control the vehicle to operate at a first preset safety speed based on the fifth warning information; the roadside controller is configured to control the first and second displays to extend perpendicularly from the road to display the fifth warning information above the road; thereby, when the width of the obstacle-free side of the road is wider, the vehicle can be controlled to pass at the higher first preset safety speed, and the fifth warning information can be displayed to occupants of the vehicle via the onboard display device, the first display, and the second display, thereby reminding the driver to drive cautiously to avoid the obstacle, thereby ensuring vehicle driving safety.

[0017] Furthermore, when determining a warning signal for the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit is configured to: when the difference between the second distance and the vehicle width is greater than a second preset safety distance and less than or equal to a first preset safety distance, determine a sixth warning signal for the vehicle relative to the obstacle, and transmit the sixth warning signal to the cloud platform via the communication module; the cloud platform is configured to determine sixth warning information for the vehicle relative to the obstacle based on the sixth warning signal, and transmit the sixth warning information to the onboard controller and the roadside controller, respectively, via the communication module; the onboard controller is configured to control an onboard display device of the vehicle to display the sixth warning information, and control the vehicle to operate at a second preset safety speed based on the sixth warning information; the roadside controller is configured to control the first and second displays to extend perpendicularly from the road to display the sixth warning information above the road; thereby, when the width of the obstacle-free side of the road is narrower, the vehicle can be controlled to pass at a lower second preset safety speed, and the sixth warning information can be displayed to occupants of the vehicle via the onboard display device, the first display, and the second display, thereby reminding the driver to drive cautiously to avoid the obstacle, thereby ensuring vehicle driving safety.

[0018] Furthermore, when determining a warning signal for the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit is configured to: when the difference between the second distance and the vehicle width is less than or equal to a second preset safety distance, determine a seventh warning signal for the vehicle relative to the obstacle, and transmit the seventh warning signal to the cloud platform via the communication module; the cloud platform is configured to determine seventh warning information for the vehicle relative to the obstacle based on the seventh warning signal, and transmit the seventh warning information to the onboard controller and the roadside controller, respectively, via the communication module; the onboard controller is configured to control the onboard display device of the vehicle to display the seventh warning information, and control the vehicle to park based on the seventh warning information; the roadside controller is configured to control the first and second displays to extend perpendicularly from the road to display the seventh warning information above the road; thereby, when the width of the obstacle-free side of the road is very narrow, the vehicle needs to be parked to switch to another road, and the seventh warning information is displayed to occupants of the vehicle via the onboard display device, the first display, and the second display, to remind the driver that the obstacle ahead is unavoidable and that another road needs to be switched to, thereby ensuring the safety of vehicle driving.

[0019] In response to the above-mentioned problems, the present invention also proposes a speed limit control method based on the Internet of Vehicles, including: obtaining first obstacle information and second obstacle information on the road, and obtaining first vehicle information and second vehicle information of the vehicle; determining a warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information and the second vehicle information; determining the warning information of the vehicle relative to the obstacle based on the warning signal; controlling the vehicle-mounted display device of the vehicle to display the warning information, and controlling the vehicle speed based on the warning information; controlling the operating status of the speed limit device on one or both sides of the road based on the warning information.

[0020] According to the speed limit control method based on the Internet of Vehicles embodiment of the present invention, it is implemented based on the speed limit control system based on the Internet of Vehicles embodiment of the present invention. By combining the image acquisition module, the lidar module, the edge computing unit, the communication module, the cloud platform, the vehicle-mounted controller, the roadside controller and the Internet of Vehicles technology, the warning information of the vehicle relative to the obstacle can be accurately determined, and the vehicle-mounted display device of the vehicle is controlled by the vehicle-mounted controller to display the warning information and control the vehicle speed according to the warning information. The roadside controller controls the operating status of the speed limit device on one or both sides of the road according to the warning information, thereby not only facilitating the occupants of the vehicle to promptly understand the warning information through the vehicle-mounted display device and to facilitate their response, but also facilitating the automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the vehicle-mounted display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0021] In response to the above-mentioned problems, the present invention also proposes an electronic device, comprising: a speed limit control system based on the Internet of Vehicles as described in the above-mentioned embodiments of the present invention, or the electronic device comprises: a processor, a memory, and a speed limit control program based on the Internet of Vehicles stored in the memory and executable on the processor, wherein the speed limit control program based on the Internet of Vehicles, when executed by the processor, implements the speed limit control method based on the Internet of Vehicles as described in the above-mentioned embodiments of the present invention.

[0022] According to an electronic device of an embodiment of the present invention, a speed limit control system based on the Internet of Vehicles in the above embodiment is provided, and the speed limit control method based on the Internet of Vehicles in the above embodiment is executed. By combining an image acquisition module, a lidar module, an edge computing unit, a communication module, a cloud platform, an on-board controller, a roadside controller and Internet of Vehicles technology, the warning information of the vehicle relative to an obstacle can be accurately determined, and the on-board controller controls the on-board display device of the vehicle to display the warning information and control the vehicle speed according to the warning information. The roadside controller controls the operating status of the speed limit device on one or both sides of the road according to the warning information, thereby not only facilitating the occupants of the vehicle to promptly understand the warning information through the on-board display device and to facilitate their response, but also facilitating the automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0023] In response to the above-mentioned problems, the present invention further proposes a computer-readable storage medium, on which a speed limit control program based on the Internet of Vehicles is stored. When the speed limit control program based on the Internet of Vehicles is executed by a processor, the speed limit control method based on the Internet of Vehicles as described in the above-mentioned embodiment of the present invention is implemented.

[0024] According to the computer-readable storage medium of an embodiment of the present invention, when the speed limit control program based on the Internet of Vehicles stored thereon is executed by the processor, the speed limit control method based on the Internet of Vehicles of the above embodiment is executed. By combining the image acquisition module, the lidar module, the edge computing unit, the communication module, the cloud platform, the on-board controller, the roadside controller and the Internet of Vehicles technology, the warning information of the vehicle relative to the obstacle can be accurately determined, and the on-board controller controls the on-board display device of the vehicle to display the warning information and control the vehicle speed according to the warning information. The roadside controller controls the operating status of the speed limit device on one or both sides of the road according to the warning information, thereby not only facilitating the occupants of the vehicle to promptly understand the warning information through the on-board display device and facilitate their response, but also facilitating the automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0025] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0027] Figure 1 is a schematic diagram of a drive system of a hybrid vehicle according to one embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of an obstacle detected by a system according to a specific embodiment of the present invention;

[0029] Figure 3 2. It is a schematic diagram of a system determining the need to activate a temporary speed limiter according to a specific embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of a system moving and displaying a temporary speed limiter according to different instructions according to a specific embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure inside a temporary speed limiting cabin according to a specific embodiment of the present invention;

[0032] Figure 6 2. It is a schematic diagram of a top view of a temporary speed limiting cabin according to a specific embodiment of the present invention;

[0033] Figure 7 2. It is a schematic diagram of the steps of extending a temporary speed limiting device out of a speed limiting compartment according to a specific embodiment of the present invention;

[0034] Figure 8 2. It is a schematic diagram of a temporary speed limiting device extending out of a speed limiting compartment according to a specific embodiment of the present invention;

[0035] Figure 9 4 is a flow chart of a speed limit control method based on the Internet of Vehicles according to an embodiment of the present invention.

[0036] Reference numerals:

[0037] 100 - Speed ​​limit control system based on the Internet of Vehicles; 110 - Image acquisition module; 120 - LiDAR module; 130 - Edge computing unit; 140 - Communication module; 150 - Cloud platform; 160 - Onboard controller; 170 - Roadside controller; 180 - Onboard display device; 190 - Speed ​​limit device;

[0038] 1-Roadside camera; 2-Roadside lidar; 3-Edge computing unit; 4-Cloud platform; 5-Roadside RSU; 6-Onboard OBU; 7-Onboard display screen; 8-Roadside controller; 9-Temporary speed limit cabin; 10-Drive motor; 11-Temporary speed limit device; 12-Release of temporary speed limit device; 13-Hatch cover; 14-Speed ​​limit device base; 15-Telescopic pull rod; 16-Folding scroll screen. DETAILED DESCRIPTION

[0039] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present invention, the implementation of the embodiments of the present invention is described in detail below in conjunction with the accompanying drawings. The accompanying drawings are for reference only and are not intended to limit the embodiments of the present invention. In the following technical description, for the sake of convenience of explanation, multiple details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices may be simplified for display.

[0040] Reference below Figures 1-9 A vehicle collision avoidance control system and method based on the Internet of Vehicles according to an embodiment of the present invention is described.

[0041] Figure 1 1 is a structural diagram of a vehicle collision avoidance control system based on the Internet of Vehicles according to an embodiment of the present invention. The vehicle collision avoidance control system 100 based on the Internet of Vehicles includes: an image acquisition module 110, which is arranged on one side or both sides of the road, and is used to collect first obstacle information on the road and first vehicle information of the vehicle; a lidar module 120, which is arranged on one side or both sides of the road, and is used to collect second obstacle information on the road and second vehicle information of the vehicle; an edge computing unit 130, which is used to determine a warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information and the second vehicle information, and transmit the warning signal to the vehicle via the communication module 140. The warning signal is transmitted to the cloud platform 150; the communication module 140 is used to realize data transmission among the cloud platform 150, the roadside controller 170, the vehicle controller 160 and the edge computing unit 130; the cloud platform 150 is used to determine the warning information of the vehicle relative to the obstacle based on the warning signal, and transmit the warning information to the vehicle controller 160 and the roadside controller 170 respectively through the communication module 140; the vehicle controller 160 is used to control the vehicle display device 180 of the vehicle to display the warning information, and control the vehicle speed according to the warning information; the roadside controller 170 is used to control the operating status of the speed limit device 190 on one or both sides of the road according to the warning information.

[0042] In a specific embodiment, the image acquisition module 110 is disposed on one or both sides of the road and is used to collect first obstacle information on the road (e.g., including but not limited to the distance between the obstacle and both sides of the road) and first vehicle information (e.g., including but not limited to the vehicle's width, speed, and distance relative to the obstacle). Specifically, the image acquisition module 110 includes, but is not limited to, a wide-angle visual sensor (e.g., a high-definition camera) that can be mounted above a road pole with a detection range of, for example, 500-1000 meters. It can capture, in real time, whether temporary obstacles (e.g., branches, sand, etc.) appear on the road surface through continuous shooting or video streaming over a wide angle range. It also collects image information of the obstacle, including detailed information such as its outline, and collects speed information and vehicle width information of the autonomous vehicle about to encounter an obstacle on the road surface.

[0043] In a specific embodiment, the laser radar module 120 is set on one side or both sides of the road to collect the second obstacle information on the road (such as but not limited to the distance between the obstacle and the two sides of the road) and the second vehicle information of the vehicle (such as but not limited to the vehicle width, speed and distance relative to the obstacle). Specifically, the laser radar module 120 can be installed above the road pole, using a mechanical rotation scanning method, with a detection distance greater than 1000m, and can perform real-time scanning of roadside obstacle information in a 360° field of view in all directions, including obstacle outlines, width, and the road autonomous driving vehicle information at this time, including vehicle width, speed and other information. For example, the laser radar can construct a three-dimensional model of the vehicle based on the returned data, and thereby determine the speed information of the target vehicle and the relative distance information between the target vehicle and the vehicle in front based on the three-dimensional model.

[0044] In a specific embodiment, the edge computing unit 130 determines a warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information, and transmits the warning signal to the cloud platform 150 through the communication module 140. Specifically, the edge computing unit 130 can fuse the data (the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information) from the image acquisition module 110 and the lidar module 120, including but not limited to combining 2D image data with 3D lidar data using a transformer model to construct a road model, including the outline and width of obstacles appearing on the road surface, the distance of the obstacles from the lane lines on both sides, and the width and speed information of the autonomous driving vehicle, so as to facilitate accurate determination of the warning signal of the vehicle relative to the obstacle based on the combined data.

[0045] In a specific embodiment, the communication module 140 establishes and maintains communication links between various components to enable data transmission between the cloud platform 150, the roadside controller 170, the onboard controller 160, and the edge computing unit 130. Specifically, it is understood that the communication module 140 is not only capable of sending data on the target vehicle (such as, but not limited to, the speed of the autonomous vehicle and the distance between the autonomous vehicle and the temporary speed limiter) and roadside data (such as, but not limited to, whether there are obstacles on the road, the boundaries of the obstacles, the width from the lane line, etc.) to the cloud platform 150, but also can receive command information sent from the cloud platform 150, thereby achieving two-way communication between different ports.

[0046] In a specific embodiment, the cloud platform 150 determines warning information about the vehicle relative to an obstacle based on the warning signal and transmits the warning information to the onboard controller 160 and the roadside controller 170 via the communication module 140. Specifically, after receiving the warning signal, the cloud platform 150 can use advanced algorithms (such as machine learning models or rule engines) to analyze the warning signal to accurately derive warning information about the vehicle relative to the obstacle.

[0047] In a specific embodiment, the vehicle-mounted controller 160 controls the vehicle-mounted display device 180 to display the warning information and controls the vehicle speed based on the warning information. Specifically, the vehicle-mounted controller 160 includes, but is not limited to, a controller located at the bottom of the cab of the target vehicle. The controller 160 can receive warning information in real time via the communication module 150 to control the vehicle-mounted display device to display the warning information, thereby facilitating timely notification and response by occupants of the vehicle. The controller can also control the vehicle speed based on the warning information, automatically controlling the vehicle speed if the occupants do not see the warning information displayed on the vehicle-mounted display device, thereby fully ensuring the vehicle's driving safety.

[0048] In a specific embodiment, the roadside controller 170 controls the operating status of the speed limiting devices 190 on one or both sides of the road based on the warning information. Specifically, the roadside controller 170 may be, for example, but not limited to, installed at the bottom of the road. It may receive warning information in real time via the communication module 150 to control the operating status of the speed limiting devices 190 on one or both sides of the road. The speed limiting devices 190 may include, for example, but not limited to, warning display screens, which facilitate timely notification of warning information to vehicle occupants and facilitate their response, thereby ensuring vehicle driving safety.

[0049] Therefore, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, by combining the image acquisition module 110, the lidar module 120, the edge computing unit 130, the communication module 140, the cloud platform 150, the on-board controller 160, the roadside controller 170 and the Internet of Vehicles technology, it is possible to accurately determine the warning information of the vehicle relative to the obstacle, and control the vehicle-mounted display device 180 of the vehicle to display the warning information and control the vehicle speed according to the warning information through the on-board controller 160, and control the operating status of the speed limiter 190 on one or both sides of the road according to the warning information through the roadside controller 170. This not only makes it convenient for occupants of the vehicle to promptly understand the warning information through the on-board display device 180 and facilitate their response, but also facilitates automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for occupants of the vehicle to promptly understand the warning information through the operating status of the speed limiter 190, thereby comprehensively ensuring the driving safety of the vehicle.

[0050] In one embodiment of the present invention, the speed limiting device 190 includes a first speed limiting component and a second speed limiting component that can move along the direction of the road, and the first speed limiting component and the second speed limiting component are respectively located on both sides of the obstacle along the direction of the road. The first speed limiting component includes a first display that can be extended and retracted in the vertical direction of the road, and the second speed limiting component includes a second display that can be extended and retracted in the vertical direction of the road. When controlling the operating status of the speed limiting device 190 on one or both sides of the road according to warning information, the on-board controller 160 is used to: according to the warning information, control the first speed limiting component and the second speed limiting component to move to the target positions respectively, and control the first display and the second display to extend from the vertical direction of the road to display the warning information above the road.

[0051] In a specific embodiment, speed limiting device 190 includes a first speed limiting assembly located in front of an obstacle and a second speed limiting assembly located behind the obstacle. The first speed limiting assembly includes a first display that is extendable and retractable perpendicular to the road, and the second speed limiting assembly includes a second display that is extendable and retractable perpendicular to the road. Specifically, both the first and second speed limiting assemblies are movable along the road to adjust the distance between the first and second displays and the obstacle, thereby adjusting the distance of the warning alert.

[0052] In a specific embodiment, when the vehicle-mounted controller 160 receives the warning information, it controls the first speed limit component and the second speed limit component to move to the target position respectively according to the warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the warning information above the road, thereby providing a warning reminder to the vehicle at an appropriate distance.

[0053] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, the speed limiting device 190 includes a first speed limiting component arranged in front of the obstacle and a second speed limiting component arranged behind the obstacle. Both the first speed limiting component and the second speed limiting component are movable along the road direction. The first speed limiting component includes a first display that can be extended and retracted in the vertical direction of the road, and the second speed limiting component includes a second display that can be extended and retracted in the vertical direction of the road. When the on-board controller 160 receives the warning information, it controls the first speed limiting component and the second speed limiting component to move to the target positions respectively, and controls the first display and the second display to extend from the vertical direction of the road to display the warning information above the road. In this way, the vehicle is warned at an appropriate distance, making it convenient for people in the vehicle to promptly understand the warning information through the first display and the second display, thereby ensuring the driving safety of the vehicle.

[0054] In one embodiment of the present invention, the first obstacle information and the second obstacle information both include the first distance and the second distance of the obstacle relative to both sides of the road, and the first vehicle information and the second vehicle information both include the vehicle width, speed and the third distance relative to the obstacle; when determining the warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information and the second vehicle information, the edge computing unit 130 is used to: determine the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the speed.

[0055] In a specific embodiment, the first obstacle information and the second obstacle information both include a first distance and a second distance of the obstacle relative to the sides of the road, and the first vehicle information and the second vehicle information both include the vehicle width, speed, and a third distance relative to the obstacle. Specifically, the first distance may be, for example, the distance to the side occupied by the obstacle, and the second distance may be, for example, the distance to the side not occupied by the obstacle.

[0056] In a specific embodiment, when the edge computing unit 130 receives the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information, it accurately determines the motion state, position state, and possibility of collision of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed, thereby accurately determining the warning signal of the vehicle relative to the obstacle.

[0057] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, the first obstacle information and the second obstacle information both include the first distance and the second distance of the obstacle relative to the two sides of the road, and the first vehicle information and the second vehicle information both include the vehicle width, speed and the third distance relative to the obstacle; when the edge computing unit 130 receives the first obstacle information, the first vehicle information, the second obstacle information and the second vehicle information, it can accurately determine the vehicle's motion state, position state and possibility of collision relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, thereby accurately determining the vehicle's warning signal relative to the obstacle.

[0058] In one embodiment of the present invention, when determining a warning signal of a vehicle relative to an obstacle based on a first distance, a second distance, a third distance, a vehicle width, and a vehicle speed, the edge computing unit 130 is used to: when the first distance is greater than a first preset distance, determine a first warning signal of the vehicle relative to the obstacle, and transmit the first warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine a first warning information of the vehicle relative to the obstacle based on the first warning signal, and transmit the first warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the first warning information; the roadside controller 170 is used to control the first speed limit component and the second speed limit component to move to the first target distance on both sides of the obstacle respectively according to the first warning information, and control the first display and the second display to extend from a direction perpendicular to the road to display the first warning information above the road.

[0059] In a specific embodiment, when the first distance is greater than a first preset distance, it indicates that an obstacle affecting traffic is present on the road surface. The edge computing unit 130 determines a first warning signal for the vehicle relative to the obstacle. The cloud platform 150 determines a first warning message for the vehicle relative to the obstacle based on the first warning signal. The onboard controller 160 controls the vehicle's onboard display device 180 to display the first warning message. The roadside controller 170 controls the first speed limit component and the second speed limit component to move to a first target distance from both sides of the obstacle based on the first warning message, and controls the first display and the second display to extend perpendicularly from the road to display the first warning message above the road. Specifically, the first distance is, for example, the distance to the side occupied by the obstacle, the first distance is, for example, 20 centimeters, the first target distance is, for example, 100 meters, the first warning message displayed on the first display is, for example, a temporary speed limit sign, and the first warning message displayed on the second display is, for example, the lifting of the temporary speed limit sign.

[0060] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, when the first distance is greater than the first preset distance, it indicates that there is an obstacle on the road that affects traffic, the edge computing unit 130 determines a first warning signal of the vehicle relative to the obstacle, the cloud platform 150 determines a first warning information of the vehicle relative to the obstacle based on the first warning signal, the on-board controller 160 controls the on-board display device 180 of the vehicle to display the first warning information, and the roadside controller 170 controls the first speed limit component and the second speed limit component to move to the first target distance on both sides of the obstacle according to the first warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the first warning information above the road, so as to facilitate occupants of the vehicle to see the first warning information in time through the first display and the second display, understand that there is an obstacle on the road that affects traffic, and remind the driver to slow down or make an avoidance operation, thereby ensuring the driving safety of the vehicle.

[0061] In one embodiment of the present invention, when determining the warning signal of the vehicle relative to an obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, the edge computing unit 130 is further used to: after determining the first warning signal of the vehicle relative to the obstacle, determine the warning signal of the vehicle relative to the obstacle based on the third distance and the vehicle speed.

[0062] In a specific embodiment, when the first distance is greater than a first preset distance, indicating that an obstacle affecting traffic exists on the road, the edge computing unit 130 determines the first warning signal for the vehicle relative to the obstacle and then determines the warning signal for the vehicle relative to the obstacle based on the third distance and vehicle speed. Specifically, the third distance is the distance between the vehicle and the obstacle.

[0063] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, when the first distance is greater than the first preset distance, it indicates that there is an obstacle on the road that affects traffic. After the edge computing unit 130 determines the first warning signal of the vehicle relative to the obstacle, it also determines the warning signal of the vehicle relative to the obstacle based on the third distance and the vehicle speed. Therefore, based on the distance and speed of the vehicle relative to the obstacle, the possibility of the vehicle colliding at the current speed and current distance can be accurately determined, thereby accurately determining the warning signal of the vehicle relative to the obstacle.

[0064] In one embodiment of the present invention, when determining a warning signal of a vehicle relative to an obstacle based on a third distance and a vehicle speed, the edge computing unit 130 is used to: when the third distance is less than or equal to a second preset distance, determine a warning signal of the vehicle relative to the obstacle based on the vehicle speed, wherein the second preset distance is greater than the first preset distance.

[0065] In a specific embodiment, when the distance between the vehicle and an obstacle is less than or equal to a second preset distance, it indicates that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. The edge computing unit 130 determines a warning signal for the vehicle relative to the obstacle based on the vehicle speed. In other words, it issues a corresponding warning signal based on the vehicle speed to avoid the danger caused by the inability to avoid the obstacle in time due to excessive speed, thereby ensuring the safety of vehicle driving. Specifically, the second preset distance is, for example, 300 meters. That is, when the distance between the vehicle and the obstacle is less than or equal to 300 meters, it indicates that the vehicle has entered a dangerous area close to the obstacle.

[0066] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, when the distance between the vehicle and the obstacle is less than or equal to the second preset distance, it means that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. The edge computing unit 130 determines the warning signal of the vehicle relative to the obstacle based on the vehicle speed, that is, sends a corresponding reminder signal based on the vehicle speed to avoid danger caused by failure to avoid obstacles in time due to excessively high speed, thereby ensuring the safety of vehicle driving.

[0067] In one embodiment of the present invention, when determining a warning signal of a vehicle relative to an obstacle based on the vehicle speed, the edge computing unit 130 is used to: when the vehicle speed is greater than a first preset speed, determine a second warning signal of the vehicle relative to the obstacle, and transmit the second warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine a second warning information of the vehicle relative to the obstacle based on the second warning signal, and transmit the second warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the second warning information; the roadside controller 170 is used to control the first speed limit component and the second speed limit component to move to a second target distance on both sides of the obstacle respectively according to the second warning information, and control the first display and the second display to extend from a direction perpendicular to the road to display the second warning information above the road, wherein the second target distance is greater than the first target distance.

[0068] In a specific embodiment, when the distance between the vehicle and the obstacle is less than or equal to the second preset distance, it means that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. When the vehicle speed is greater than the first preset speed, it means that the vehicle speed is very fast. At this time, it is necessary to give a reminder one step in advance. The edge computing unit 130 determines the second warning signal of the vehicle relative to the obstacle. The cloud platform 150 determines the second warning information of the vehicle relative to the obstacle based on the second warning signal. The on-board controller 160 controls the on-board display device 180 of the vehicle to display the second warning information. The roadside controller 170 controls the on-board display device 180 of the vehicle to display the second warning information based on the second warning signal. The first speed limit component and the second speed limit component are controlled to move to the second target distances on both sides of the obstacle respectively, and the first display and the second display are controlled to extend from the perpendicular direction of the road to display the second warning information above the road, and the second target distance is greater than the first target distance, that is, the second warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display and the second display at the second target distance farther from the obstacle, so as to remind the driver to slow down or make an evasive action, so as to avoid danger caused by failure to avoid the obstacle in time due to excessive speed, thereby ensuring the safety of vehicle driving. Specifically, the second preset distance is, for example, 300 meters, that is, when the distance between the vehicle and the obstacle is less than or equal to 300 meters, it means that the vehicle has entered a dangerous area close to the obstacle. The first preset speed is, for example, 80 kph, that is, when the speed is greater than 80 kph, it means that the speed is very fast. The second target distance is, for example, 200 meters, that is, the reminder starts 200 meters away from the obstacle. The second warning information displayed on the first display is, for example, a temporary speed limit sign, and the second warning information displayed on the second display is, for example, the lifting of the temporary speed limit sign.

[0069] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, when the distance between the vehicle and the obstacle is less than or equal to the second preset distance, it means that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. When the vehicle speed is greater than the first preset speed, it means that the vehicle speed is very fast. At this time, a reminder is required one step in advance. The edge computing unit 130 determines a second warning signal of the vehicle relative to the obstacle. The cloud platform 150 is used to determine a second warning information of the vehicle relative to the obstacle based on the second warning signal. The on-board controller 160 controls the on-board display device 180 of the vehicle to display the second warning information. The roadside controller 170 controls the first speed limit component and the second speed limit component to move to the second target distance on both sides of the obstacle respectively according to the second warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the second warning information above the road, and the second target distance is greater than the first target distance, that is, the second warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display and the second display outside the second target distance farther from the obstacle, so as to remind the driver to slow down or make evasive actions, so as to avoid danger caused by failure to avoid obstacles in time due to excessive speed, thereby ensuring the safety of vehicle driving.

[0070] In one embodiment of the present invention, when determining a warning signal of a vehicle relative to an obstacle based on the vehicle speed, the edge computing unit 130 is used to: when the vehicle speed is greater than a second preset speed and less than or equal to a first preset speed, determine a third warning signal of the vehicle relative to the obstacle, and transmit the third warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine a third warning information of the vehicle relative to the obstacle based on the third warning signal, and transmit the third warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the third warning information; the roadside controller 170 is used to control the first speed limit component and the second speed limit component to move to a third target distance from both sides of the obstacle respectively according to the third warning information, and control the first display and the second display to extend from a direction perpendicular to the road to display the third warning information above the road, wherein the third target distance is greater than the first target distance.

[0071] In a specific embodiment, when the distance between the vehicle and the obstacle is less than or equal to the second preset distance, it means that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. When the vehicle speed is greater than the second preset speed and less than or equal to the first preset speed, it means that the vehicle speed is fast. At this time, a reminder is required one step in advance. The edge computing unit 130 determines the third warning signal of the vehicle relative to the obstacle. The cloud platform 150 determines the third warning information of the vehicle relative to the obstacle based on the third warning signal. The on-board controller 160 controls the on-board display device 180 of the vehicle to display the third warning information. The roadside controller 170 controls the on-board display device 180 of the vehicle to display the third warning information based on the third warning signal. The third warning information controls the first speed limit component and the second speed limit component to move to a third target distance from both sides of the obstacle, respectively, and controls the first display and the second display to extend from a direction perpendicular to the road to display the third warning information above the road, and the third target distance is greater than the first target distance, that is, the third warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display and the second display outside the third target distance farther from the obstacle, so as to remind the driver to slow down or make an evasive action to avoid danger caused by failure to avoid the obstacle in time due to high speed, thereby ensuring the safety of vehicle driving. Specifically, the second preset distance is, for example, 300 meters, that is, when the distance between the vehicle and the obstacle is less than or equal to 300 meters, it means that the vehicle has entered a dangerous area close to the obstacle. The first preset speed is, for example, 80 kph, and the second preset speed is, for example, 60 kph, that is, when the speed is greater than 60 kph and less than or equal to 80 kph, it means that the speed is faster. The second target distance is, for example, 150 meters, that is, the reminder starts 150 meters away from the obstacle. The third warning information displayed on the first display is, for example, a temporary speed limit sign, and the third warning information displayed on the second display is, for example, the lifting of the temporary speed limit sign.

[0072] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, when the distance between the vehicle and the obstacle is less than or equal to the second preset distance, it means that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. When the vehicle speed is greater than the second preset speed and less than or equal to the first preset speed, it means that the vehicle speed is fast. At this time, a reminder is required one step in advance. The edge computing unit 130 determines the third warning signal of the vehicle relative to the obstacle. The cloud platform 150 determines the third warning information of the vehicle relative to the obstacle based on the third warning signal. The on-board controller 160 controls the on-board display device 180 of the vehicle to display the third warning information. The roadside controller 170 controls the first speed limit component and the second speed limit component to move to the third target distances on both sides of the obstacle according to the third warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the third warning information above the road, and the third target distance is greater than the first target distance, that is, the third warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display and the second display outside the third target distance farther from the obstacle, so as to remind the driver to slow down or make an evasive action, so as to avoid danger caused by failure to avoid the obstacle in time due to high speed, thereby ensuring the safety of vehicle driving.

[0073] In one embodiment of the present invention, when determining a warning signal of a vehicle relative to an obstacle based on the vehicle speed, the edge computing unit 130 is used to: when the vehicle speed is less than or equal to a second preset speed, determine a fourth warning signal of the vehicle relative to the obstacle, and transmit the fourth warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine a fourth warning information of the vehicle relative to the obstacle based on the fourth warning signal, and transmit the fourth warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the fourth warning information; the roadside controller 170 is used to control the first speed limit component and the second speed limit component to maintain a first target distance from both sides of the obstacle based on the fourth warning information, and control the first display and the second display to extend from a direction perpendicular to the road to display the fourth warning information above the road.

[0074] In a specific embodiment, when the distance between the vehicle and the obstacle is less than or equal to the second preset distance, it indicates that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. When the vehicle speed is less than or equal to the second preset speed, it indicates that the vehicle speed is slow. At this time, there is no need to issue a warning in advance. The edge computing unit 130 determines a fourth warning signal of the vehicle relative to the obstacle. The cloud platform 150 determines a fourth warning information of the vehicle relative to the obstacle based on the fourth warning signal. The on-board controller 160 controls the on-board display device 180 of the vehicle to display the fourth warning information. The roadside controller 170 controls the first speed limit component and the second speed limit component to maintain the first target distance from both sides of the obstacle based on the fourth warning information. That is, when the vehicle speed is slow, there is no need to issue a warning in advance. The fourth warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display, and the second display while the vehicle speed is outside the first target distance from both sides of the obstacle. This facilitates reminding the driver to decelerate or make an evasive maneuver, thereby ensuring the safety of vehicle driving. Specifically, the second preset distance is, for example, 300 meters, that is, when the distance between the vehicle and the obstacle is less than or equal to 300 meters, it means that the vehicle has entered a dangerous area close to the obstacle. The second preset speed is, for example, 60 kph, that is, when the speed is less than or equal to 60 kph, it means that the speed is slow. The second target distance is, for example, 100 meters. The fourth warning information displayed on the first display is, for example, a temporary speed limit sign, and the fourth warning information displayed on the second display is, for example, the lifting of the temporary speed limit sign.

[0075] Specifically, according to the vehicle collision avoidance control system 100 based on the connected vehicle network according to an embodiment of the present invention, when the distance between the vehicle and an obstacle is less than or equal to a second preset distance, it indicates that the vehicle has entered a dangerous area close to the obstacle. At this time, it is necessary to determine whether the vehicle speed is within a safe range. When the vehicle speed is less than or equal to the second preset speed, it indicates that the vehicle speed is slow, and no advance warning is required. The edge computing unit 130 determines a fourth warning signal for the vehicle relative to the obstacle. The cloud platform 150 determines fourth warning information for the vehicle relative to the obstacle based on the fourth warning signal. The onboard controller 160 controls the onboard display device 180 of the vehicle to display the fourth warning information. The roadside controller 170 controls the first speed limiting component and the second speed limiting component based on the fourth warning information to maintain a first target distance from both sides of the obstacle. In other words, when the vehicle speed is slow, no advance warning is required. The fourth warning information is displayed to the occupants of the vehicle via the onboard display device 180, the first display, and the second display while the vehicle speed is outside the first target distance from both sides of the obstacle, thereby prompting the driver to decelerate or take evasive action, thereby ensuring the safety of the vehicle.

[0076] In one embodiment of the present invention, when determining the warning signal of the vehicle relative to an obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, the edge computing unit 130 is also used to: after determining the first warning signal of the vehicle relative to the obstacle, determine the warning signal of the vehicle relative to the obstacle based on the second distance and the vehicle width.

[0077] In a specific embodiment, when the first distance is greater than a first preset distance, indicating the presence of an obstacle affecting traffic, the edge computing unit 130 determines the first warning signal for the vehicle relative to the obstacle and then determines the warning signal for the vehicle relative to the obstacle based on the second distance and the vehicle width. Specifically, the second distance is, for example, the distance to the side not occupied by the obstacle.

[0078] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles according to an embodiment of the present invention, when the first distance is greater than the first preset distance, it indicates that there is an obstacle on the road that affects traffic. After the edge computing unit 130 determines the first warning signal of the vehicle relative to the obstacle, it also determines the warning signal of the vehicle relative to the obstacle based on the second distance and the vehicle width. Therefore, it is possible to accurately determine whether the vehicle can avoid the obstacle and pass through the road based on the vehicle width and the width of the obstacle-free side of the road, thereby accurately determining the warning signal of the vehicle relative to the obstacle.

[0079] In one embodiment of the present invention, when determining the warning signal of the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit 130 is used to: when the difference between the second distance and the vehicle width is greater than the first preset safety distance, determine the fifth warning signal of the vehicle relative to the obstacle, and transmit the fifth warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine the fifth warning information of the vehicle relative to the obstacle based on the fifth warning signal, and transmit the fifth warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the fifth warning information, and control the vehicle to run at the first preset safety speed according to the fifth warning information; the roadside controller 170 is used to control the first display and the second display to extend from the vertical direction of the road to display the fifth warning information above the road.

[0080] In a specific embodiment, when the difference between the second distance and the vehicle width is greater than the first preset safety distance, it indicates that the width of the obstacle-free side of the road is greater than the vehicle width by the first preset safety distance or more, that is, the vehicle can easily avoid the obstacle and pass through the road. The edge computing unit 130 determines a fifth warning signal of the vehicle relative to the obstacle. The cloud platform 150 determines a fifth warning information of the vehicle relative to the obstacle based on the fifth warning signal. The on-board controller 160 controls the on-board display device 180 of the vehicle to display the fifth warning information, and controls the vehicle to run at the first preset safety speed to avoid the obstacle and pass through the road. The roadside controller 170 controls the first speed limit component and the second speed limit component to extend from the vertical direction of the road based on the fifth warning information to display the fifth warning information above the road. That is, when the width of the obstacle-free side of the road is wider, the vehicle can be controlled to pass at the higher first preset safety speed, and the fifth warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display, and the second display, so as to remind the driver to drive carefully to avoid the obstacle, thereby ensuring the safety of the vehicle. Specifically, the first preset safety distance is, for example, 1 meter, that is, when the width of the obstacle-free side of the road is greater than the vehicle width by 1 meter or more, it means that the vehicle can easily avoid obstacles and pass through the road. The first preset safety speed is, for example, the normal speed limit -20kph, so as to ensure safe passage. The fifth warning information displayed on the first display is, for example, a sign for avoiding passage ahead, and the fifth warning information displayed on the second display is, for example, a sign for ending avoidance passage.

[0081] Specifically, according to the vehicle collision avoidance control system 100 based on the connected vehicle network embodiment of the present invention, when the difference between the second distance and the vehicle width is greater than the first preset safety distance, it indicates that the width of the obstacle-free side of the road is greater than the vehicle width by at least the first preset safety distance, meaning that the vehicle can easily avoid the obstacle and pass through the road. The edge computing unit 130 determines a fifth warning signal for the vehicle relative to the obstacle. The cloud platform 150 determines fifth warning information for the vehicle relative to the obstacle based on the fifth warning signal. The onboard controller 160 controls the onboard display device 180 of the vehicle to display the fifth warning information and controls the vehicle to travel at a first preset safety speed to avoid the obstacle and pass through the road. The roadside controller 170 controls the first and second speed limiting components to extend perpendicularly from the road based on the fifth warning information to display the fifth warning information above the road. That is, when the width of the obstacle-free side of the road is wider, the vehicle can be controlled to pass through at the higher first preset safety speed. The fifth warning information is displayed to the occupants of the vehicle via the onboard display device 180, the first display, and the second display, thereby reminding the driver to drive cautiously to avoid the obstacle, thereby ensuring vehicle driving safety.

[0082] In one embodiment of the present invention, when determining the warning signal of the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit 130 is used to: when the difference between the second distance and the vehicle width is greater than the second preset safety distance and less than or equal to the first preset safety distance, determine the sixth warning signal of the vehicle relative to the obstacle, and transmit the sixth warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine the sixth warning information of the vehicle relative to the obstacle based on the sixth warning signal, and transmit the sixth warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the sixth warning information, and control the vehicle to run at the second preset safety speed according to the sixth warning information; the roadside controller 170 is used to control the first display and the second display to extend from the vertical direction of the road to display the sixth warning information above the road.

[0083] In a specific embodiment, when the difference between the second distance and the vehicle width is greater than the second preset safety distance and less than or equal to the first preset safety distance, it indicates that the width of the obstacle-free side of the road is greater than the vehicle width and is between the second preset safety distance and the first preset safety distance. This means that the vehicle needs to take maneuvers such as using a different lane to avoid the obstacle and pass through the road. The edge computing unit 130 determines a sixth warning signal for the vehicle relative to the obstacle. The cloud platform 150 determines sixth warning information for the vehicle relative to the obstacle based on the sixth warning signal. The onboard controller 160 controls the onboard display device 180 of the vehicle to display the sixth warning information and controls the vehicle to travel at the second preset safety speed to avoid the obstacle and pass through the road. Based on the sixth warning information, the roadside controller 170 controls the first and second speed limiting components to extend perpendicularly from the road to display the sixth warning information above the road. This means that when the width of the obstacle-free side of the road is narrow, the vehicle can be controlled to pass through at the lower second preset safety speed. The sixth warning information is displayed to vehicle occupants via the onboard display device 180, the first display, and the second display, thereby reminding the driver to drive cautiously to avoid the obstacle and thereby ensuring vehicle safety. Specifically, the first preset safety distance is, for example, 1 meter, and the second preset safety distance is, for example, 0.3 meter. That is, when the width of the obstacle-free side of the road is between 0.3-1 meter, it means that the vehicle needs to use other lanes to avoid obstacles and pass through the road. The second preset safety speed is, for example, the normal speed limit -40kph, so as to ensure safe passage. The sixth warning information displayed on the first display is, for example, a sign that requires using other lanes to avoid passage ahead, and the fifth warning information displayed on the second display is, for example, a sign that indicates the end of using other lanes to avoid passage.

[0084] Specifically, according to the vehicle collision avoidance control system 100 based on the Internet of Vehicles embodiment of the present invention, when the difference between the second distance and the vehicle width is greater than the second preset safety distance and less than or equal to the first preset safety distance, it means that the width of the obstacle-free side of the road is greater than the vehicle width and is between the second preset safety distance and the first preset safety distance, that is, the vehicle needs to take operations such as borrowing lanes to avoid obstacles and pass through the road. The edge computing unit 130 determines the sixth warning signal of the vehicle relative to the obstacle, the cloud platform 150 determines the sixth warning information of the vehicle relative to the obstacle based on the sixth warning signal, and the on-board controller 160 controls the on-board display of the vehicle. The display device 180 displays the sixth warning information, and controls the vehicle to run at the second preset safety speed to avoid obstacles and pass the road. The roadside controller 170 controls the first speed limit component and the second speed limit component to extend from the vertical direction of the road according to the sixth warning information to display the sixth warning information above the road. That is, when the width of the obstacle-free side of the road is narrow, the vehicle can be controlled to pass at the lower second preset safety speed, and the sixth warning information is displayed to the occupants of the vehicle through the on-board display device 180, the first display and the second display, so as to remind the driver to drive carefully to avoid obstacles, thereby ensuring the safety of vehicle driving.

[0085] In one embodiment of the present invention, when determining the warning signal of the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit 130 is used to: when the difference between the second distance and the vehicle width is less than or equal to the second preset safety distance, determine the seventh warning signal of the vehicle relative to the obstacle, and transmit the seventh warning signal to the cloud platform 150 through the communication module 140; the cloud platform 150 is used to determine the seventh warning information of the vehicle relative to the obstacle based on the seventh warning signal, and transmit the seventh warning information to the on-board controller 160 and the roadside controller 170 respectively through the communication module 140; the on-board controller 160 is used to control the on-board display device 180 of the vehicle to display the seventh warning information, and control the vehicle to park according to the seventh warning information; the roadside controller 170 is used to control the first display and the second display to extend from the vertical direction of the road to display the seventh warning information above the road.

[0086] In a specific embodiment, when the difference between the second distance and the vehicle width is less than or equal to the second preset safety distance, it indicates that the width of the obstacle-free side of the road is greater than the vehicle width at or below the second preset safety distance, which means that the vehicle cannot avoid the obstacle and pass through the road. The edge computing unit 130 determines a seventh warning signal for the vehicle relative to the obstacle. The cloud platform 150 determines a seventh warning information for the vehicle relative to the obstacle based on the seventh warning signal. The onboard controller 160 controls the onboard display device 180 of the vehicle to display the seventh warning information and controls the vehicle to park in order to switch to another road. The roadside controller 170 controls the first speed limit component and the second speed limit component to extend perpendicularly from the road in accordance with the seventh warning information to display the seventh warning information above the road. That is, when the width of the obstacle-free side of the road is very narrow, the vehicle needs to be parked in order to switch to another road. The seventh warning information is displayed to the occupants of the vehicle through the onboard display device 180, the first display, and the second display to remind the driver that the obstacle ahead cannot be avoided and that another road needs to be switched to, thereby ensuring the safety of vehicle driving. Specifically, the second preset safety distance is, for example, 0.3 meters, that is, when the width of the obstacle-free side of the road is greater than the vehicle width of 0.3 meters or less, it means that the vehicle cannot avoid the obstacle and pass through the road. The seventh warning information displayed on the on-board display device 180, the first display and the second display is, for example, the sign that the vehicle cannot avoid the obstacle in front and please change lanes.

[0087] Specifically, according to the vehicle collision avoidance control system 100 based on the connected vehicle network according to an embodiment of the present invention, when the difference between the second distance and the vehicle width is less than or equal to the second preset safety distance, it indicates that the width of the obstacle-free side of the road is greater than the vehicle width by or less than the second preset safety distance, meaning that the vehicle cannot avoid the obstacle and pass through the road. The edge computing unit 130 determines a seventh warning signal for the vehicle relative to the obstacle. The cloud platform 150 determines seventh warning information for the vehicle relative to the obstacle based on the seventh warning signal. The onboard controller 160 controls the onboard display device 180 of the vehicle to display the seventh warning information and controls the vehicle to park in order to pass through another road. The roadside controller 170 controls the first and second speed limiting components to extend perpendicularly from the road in accordance with the seventh warning information to display the seventh warning information above the road. In other words, when the width of the obstacle-free side of the road is very narrow, the vehicle must be parked in order to pass through another road. The seventh warning information is displayed to the vehicle occupants via the onboard display device 180, the first display, and the second display to remind the driver that the obstacle ahead cannot be avoided and that another road must be passed, thereby ensuring the safety of the vehicle.

[0088] The speed limit control system based on the Internet of Vehicles in the above embodiment of the present invention is described below with reference to specific embodiments.

[0089] Figure 2This is a schematic diagram of an obstacle detected by a system according to a specific embodiment of the present invention. Figure 3 This is a schematic diagram of a system determining the need to activate a temporary speed limiter according to a specific embodiment of the present invention. Figure 4 This is a schematic diagram of a system according to a specific embodiment of the present invention that moves and displays a temporary speed limit device according to different instructions. Figure 5 This is a schematic diagram of the structure inside a temporary speed limit cabin according to a specific embodiment of the present invention. Figure 6 This is a schematic diagram of a top view of a temporary speed limiting cabin according to a specific embodiment of the present invention. Figure 7 This is a schematic diagram of the steps of extending the temporary speed limiting device out of the speed limiting compartment according to a specific embodiment of the present invention. Figure 8 Schematic diagram of a temporary speed limiting device extending out of a speed limiting compartment according to a specific embodiment of the present invention. Figure 2-Figure 8 As shown, in this specific embodiment, the speed limit control system based on the Internet of Vehicles includes a roadside camera 1, a roadside laser radar 2, an edge computing unit 3, a cloud platform 4, a roadside RSU (Road Side Unit) 5, an onboard OBU (On board Unit) 6, an onboard display 7, a roadside controller 8, a temporary speed limit cabin 9, a drive motor 10, a temporary speed limit device 11, a temporary speed limit release device 12, a cabin cover 13, a speed limit device base 14, a telescopic pull rod 15 and a folding scroll screen 16. Among them,

[0090] In this specific embodiment, the roadside camera 1 is installed above the road pole and uses a high-definition pixel sensor with a detection distance of 500-1000m. It collects in real time whether there are temporary obstacles (such as branches, sand and stones) on the road surface. At the same time, it collects image information of the obstacles including detailed information such as outlines, collects speed information and vehicle width information of the autonomous driving vehicle about to drive into the obstacle on the road, and transmits it to the edge computing unit 3.

[0091] In this specific embodiment, the roadside lidar 2 is installed above the road pole and adopts a mechanical rotating scanning method with a detection distance of >1000m. It can scan the roadside obstacle information in real time within a 360° field of view in all directions, including the obstacle outline and width, and the road autonomous driving vehicle information at this time, including vehicle width, speed and other information, and transmit the information to the edge computing unit 3.

[0092] In this specific embodiment, the edge computing unit 3 receives the 2D image transmitted by the roadside camera 1 and the 3D point cloud information scanned by the roadside lidar 2, performs image fusion processing and segmentation judgment, and constructs a road model, including the outline and width of obstacles on the road surface, the distance between the obstacles and the lane lines on both sides, and the width and speed information of the traveling autonomous driving vehicle, which is used for the command information judgment of the cloud platform 4.

[0093] In this specific embodiment, the cloud platform 4 receives in real time information from the edge computing unit 3 on whether there are obstacles on the road, the boundaries of the obstacles, the width from the lane line, the speed of the autonomous driving vehicle, and the distance between the autonomous driving vehicle and the temporary speed limiter 11, and makes a comprehensive judgment based on the information.

[0094] In this specific embodiment, when the cloud platform 4 receives the roadside perception transmitted by the edge computing unit 3 and determines that a temporary obstacle (such as trees, sand, etc.) appears at a distance of A from the lane line on one side, when A ≥ 20 cm, it is determined that the obstacle has an impact on the normal passage of the vehicle, and an instruction 1 will be issued to the roadside controller 8. The roadside controller 8 will control the temporary speed limit device 11 to extend from the ground, and display a temporary speed limit sign 100 m in front of the obstacle, and extend it 100 m behind the obstacle to display a temporary speed limit release sign.

[0095] In this specific embodiment, the cloud platform 4 monitors the real-time speed information of the autonomous driving vehicle transmitted by the edge computing unit 3. When the autonomous driving vehicle is 300m away from the temporary speed limit sign after instruction 1, the speed of the autonomous driving vehicle at this time is monitored, and instruction 2 is issued to the roadside controller 8 according to the vehicle speed: when V (autonomous driving vehicle speed) > 80kph, the temporary speed limit sign and the speed limit release sign will move to a distance of L = 200m before and after the obstacle; when 80kph ≥ V (autonomous driving vehicle speed) > 60kph, the temporary speed limit sign and the speed limit release sign will move to a distance of L = 150m before and after the obstacle; when V (autonomous driving vehicle speed) < 60kph, the temporary speed limit sign and the speed limit release sign will remain at a distance of L = 100m before and after the obstacle.

[0096] In this specific embodiment, when the cloud platform 4 compares the width D of the obstacle edge from the other side of the road edge with the width d of the traveling vehicle: when Dd>100cm, it is judged that the vehicle will pass through and can slightly avoid the road, and an instruction 3 will be issued to the temporary speed limit device 11. The temporary speed limit device 11 will display the vehicle's temporary speed limit logo, and V (temporary speed limit) = V (normal speed limit) - 20kph, and at the same time send a display text: "Avoidance is required ahead"; at the same time, the speed limit device will display the information through 5G communication to the display screen of the autonomous driving vehicle for redundant reminders; when 100cm≥Dd>30cm, it is judged that the vehicle must use the road to avoid and pass the road, and an instruction 4 will be issued to the temporary speed limit device 11, and the temporary speed limit will be temporarily limited. The speed limiter 11 will display the vehicle's temporary speed limit sign, and V (temporary speed limit) = V (normal speed limit) - 40kph, and at the same time send a display text: "You need to use the lane ahead to avoid and pass"; at the same time, the speed limiter will transmit the display information to the display screen of the autonomous driving vehicle through 5G communication as a redundant reminder; when Dd≤30cm, it is determined that the vehicle will not be able to avoid and pass through the road, and an instruction 5 will be issued to the temporary speed limiter 11. The temporary speed limiter 11 will display the vehicle's temporary speed limit sign, and V (temporary speed limit) = 0, and at the same time send a display text: "You cannot avoid and pass ahead, please change lanes" and a buzzer alarm reminder; at the same time, the speed limiter will transmit the display information to the display screen of the autonomous driving vehicle through 5G communication as a redundant reminder.

[0097] In this specific embodiment, the roadside RSU 5 receives the command information issued by the cloud platform 4 and transmits it to the roadside controller 8 through wireless communication (such as 4G / 5G, etc.), controlling the temporary speed limit device 11 to extend from the ground for speed limit reminders, etc.

[0098] In this specific embodiment, the on-board OBU6 receives the speed limit reminder information sent by the scroll screen through wireless communication (such as 4G / 5G, etc.), and transmits the information to the on-board display screen 7 of the autonomous driving vehicle for speed limit or lane change and route change operations of the autonomous driving.

[0099] In this specific embodiment, the vehicle-mounted display screen 7 receives the display information of the roadside scroll screen transmitted by the vehicle-mounted OBU6, and sends it to the internal controller of the automatic driving, which is used to control the speed limit reminder of the automatic driving vehicle or change lanes and route driving operations based on the display information.

[0100] In this specific embodiment, the roadside controller 8 is arranged at the bottom of one edge of the road, receives instructions from the cloud platform 4 transmitted by the roadside RSU 5, controls the temporary speed limit device 11 to move to the corresponding position 100m before and after the obstacle under the action of the drive motor 10, and extends the temporary speed limit device 11 out of the ground for speed limit reminder.

[0101] In this specific embodiment, the temporary speed limit cabin 9 is a rectangular cabin structure, arranged at the edge of one side of the road, and has a built-in roadside controller 8, a drive motor 10, a temporary speed limit device 11, a speed limit release device, a sliding track, etc.

[0102] In this specific embodiment, the driving motor 10 receives instructions from the roadside controller 8, drives the temporary speed limit device 11 / speed limit release device to slide along the sliding track to a corresponding position 100m before and after the obstacle, and extends the temporary speed limit device 11 out of the ground for speed limit reminder.

[0103] In this specific embodiment, the temporary speed limiter 11 includes a speed limiter base that can slide along a slide rail. The base includes a telescopic pull rod 15 and a folding scroll screen 16. The pull rod can be extended from the ground under the action of a motor, and the scroll screen can be unfolded to display a speed limit reminder on the screen, thereby playing the role of temporary speed limit.

[0104] In this specific embodiment, the temporary speed limit release device 12 includes a speed limit base that can slide along the slide rail. The base includes a telescopic pull rod 15 and a folding scroll screen 16. Under the action of the motor, the pull rod can be extended from the ground, and the scroll screen can be unfolded to display a speed limit reminder on the screen, thereby releasing the temporary speed limit.

[0105] In this specific embodiment, the hatch 13 is arranged above the temporary speed limit cabin 9 and has a rectangular grid structure. Upon receiving an instruction from the roadside controller 8, it can slide to both sides to open the hatch 13, and the temporary speed limiter 11 can extend out of the hatch 13.

[0106] In this specific embodiment, the speed limiting device base 14, with a built-in telescopic pull rod 15 and a folding scroll screen 16, can slide along the slide rail under the action of a motor.

[0107] In this specific embodiment, the telescopic rod 15 can be stretched or contracted under the action of the motor, so as to extend or retract the speed-limiting folding scroll screen 16 from the ground.

[0108] In this specific embodiment, the folding scroll screen 16 is folded and rolled out of the telescopic pull rod 15. After extending out of the ground, it can be unfolded under the action of a motor to display temporary speed limit information, thereby serving as a speed limit reminder.

[0109] From the above, it can be seen that the speed limit control system based on the Internet of Vehicles in this specific embodiment utilizes Internet of Vehicles technology and adopts roadside sensing equipment to monitor the presence of temporary obstacles on the road in real time and determine whether a speed limit reminder is needed. Utilizing cloud platform technology, when the cloud platform receives the roadside sensing information transmitted by the edge computing unit and determines that a temporary obstacle (such as a tree, gravel, etc.) appears at a distance of A from the lane line on one side, if A is greater than or equal to 20 cm, it is determined that the obstacle has an impact on the normal passage of the vehicle and will issue a command 1 to the roadside controller. The roadside controller will control the temporary speed limit device to extend from the ground, displaying a temporary speed limit sign 100 m before the obstacle and a temporary speed limit release sign 100 m after the obstacle. The cloud platform monitors the real-time speed information of the autonomous vehicle transmitted by the edge computing unit. When the autonomous vehicle is 300m away from the temporary speed limit sign after instruction 1, the speed of the autonomous vehicle at this time is monitored. According to the different speeds, instruction 2 is issued to the roadside controller. When the cloud platform compares the width D of the obstacle edge from the other side of the road edge with the width d of the traveling vehicle, when Dd>100cm, it is judged that the vehicle will pass through the road with slight avoidance. Instruction 3 is issued to the temporary speed limit device. The temporary speed limit device will display the temporary speed limit sign of the vehicle, and V (temporary speed limit) = V (normal speed limit) - 20kph. At the same time, the text "avoidance ahead" is issued. ; At the same time, the speed limiter will transmit the displayed information to the display screen of the autonomous driving vehicle via 5G communication for redundant reminder; when the cloud platform compares the width D of the obstacle edge from the other side of the road edge with the width d of the traveling vehicle, when 100cm≥Dd>30cm, it will determine that the vehicle must use the lane to avoid and pass the road, and will send instruction 4 to the temporary speed limiter, which will display the temporary speed limit sign of the vehicle, and V (temporary speed limit) = V (normal speed limit) - 40kph, and send the display text: "Need to use the lane to avoid and pass ahead"; At the same time, the speed limiter will transmit the displayed information to the display screen of the autonomous driving vehicle via 5G communication for redundant reminder; when the cloud platform compares the width D of the obstacle edge from the other side of the road edge with the width d of the traveling vehicle, when 100cm≥Dd>30cm, it will determine that the vehicle must use the lane to avoid and pass the road, and will send instruction 4 to the temporary speed limiter, and the temporary speed limiter will display the temporary speed limit sign of the vehicle, and V (temporary speed limit) = V (normal speed limit) - 40kph, and send the display text: "Need to use the lane to avoid and pass ahead"; At the same time, the speed limiter will transmit the displayed information to the display screen of the autonomous driving vehicle via 5G communication for redundant reminder; The width D of the edge from the other side of the road edge is compared with the width d of the moving vehicle. When Dd≤30cm, it is determined that the vehicle will not be able to avoid and pass through the road, and an instruction 5 will be issued to the temporary speed limiter. The temporary speed limiter will display the vehicle temporary speed limit sign, and V (temporary speed limit) = 0, and at the same time send a display text: "Unable to avoid and pass ahead, please change lanes" and a buzzer alarm reminder; at the same time, the speed limiter will transmit the display information to the autonomous driving vehicle display screen through 5G communication for redundant reminders; thus, the Internet of Vehicles technology can be used to monitor road obstacles in real time, activate the temporary speed limiter, and remind the autonomous driving vehicle, thereby alleviating traffic congestion and improving traffic efficiency.

[0110] In summary, according to the speed limit control system based on the Internet of Vehicles embodiment of the present invention, by combining the image acquisition module 110, the lidar module 120, the edge computing unit 130, the communication module 140, the cloud platform 150, the on-board controller 160, the roadside controller 170 and the Internet of Vehicles technology, it is possible to accurately determine the warning information of the vehicle relative to the obstacle, and control the vehicle-mounted display device 180 of the vehicle to display the warning information and control the vehicle speed according to the warning information through the on-board controller 160, and control the operating status of the speed limit device 190 on one or both sides of the road according to the warning information through the roadside controller 170. This not only facilitates the occupants of the vehicle to promptly understand the warning information through the on-board display device 180 and facilitate their response, but also facilitates automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device 190, thereby comprehensively ensuring the driving safety of the vehicle.

[0111] A further embodiment of the present invention also discloses a speed limit control method based on the Internet of Vehicles. Figure 9 FIG. 1 is a flow chart of a speed limit control method based on the Internet of Vehicles according to an embodiment of the present invention. Figure 9 As shown in FIG, the speed limit control method based on the Internet of Vehicles includes:

[0112] Step S1: Acquire first obstacle information and second obstacle information on the road, and acquire first vehicle information and second vehicle information of a vehicle.

[0113] Step S2: determining a warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information.

[0114] Step S3: determining warning information of the vehicle relative to the obstacle based on the warning signal.

[0115] Step S4: Control the vehicle's onboard display device to display warning information, and control the vehicle speed according to the warning information.

[0116] Step S5: controlling the operating state of the speed limiter on one side or both sides of the road according to the warning information.

[0117] In one embodiment of the present invention, the speed limiting device includes a first speed limiting component and a second speed limiting component that are movable along the road direction, and the first speed limiting component and the second speed limiting component are respectively located on both sides of the obstacle along the road direction, the first speed limiting component includes a first display that is extendable and retractable in a direction perpendicular to the road, and the second speed limiting component includes a second display that is extendable and retractable in a direction perpendicular to the road. Step S5 controls the operating status of the speed limiting device on one or both sides of the road according to the warning information, including: controlling the first speed limiting component and the second speed limiting component to move to target positions, respectively, according to the warning information, and controlling the first display and the second display to extend from a direction perpendicular to the road to display the warning information above the road.

[0118] In one embodiment of the present invention, the first obstacle information and the second obstacle information both include a first distance and a second distance of the obstacle relative to both sides of the road, and the first vehicle information and the second vehicle information both include the vehicle width, the vehicle speed, and the third distance relative to the obstacle; step S2 determines the warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information, including: determining the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed.

[0119] In one embodiment of the present invention, step S2 includes: when the first distance is greater than the first preset distance, determining a first warning signal of the vehicle relative to the obstacle, and transmitting the first warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the first warning information of the vehicle relative to the obstacle based on the first warning signal, and transmits the first warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the first warning information; step S5 includes: the roadside controller controls the first speed limit component and the second speed limit component to move to the first target distance on both sides of the obstacle respectively according to the first warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the first warning information above the road.

[0120] In one embodiment of the present invention, step S2 determines the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, and also includes: after determining the first warning signal of the vehicle relative to the obstacle, determining the warning signal of the vehicle relative to the obstacle based on the third distance and the vehicle speed.

[0121] In one embodiment of the present invention, step S2 determines a warning signal of the vehicle relative to the obstacle based on the third distance and the vehicle speed, including: when the third distance is less than or equal to a second preset distance, determining a warning signal of the vehicle relative to the obstacle based on the vehicle speed, wherein the second preset distance is greater than the first preset distance.

[0122] In one embodiment of the present invention, step S2 includes: when the vehicle speed is greater than a first preset speed, determining a second warning signal of the vehicle relative to the obstacle, and transmitting the second warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the second warning information of the vehicle relative to the obstacle based on the second warning signal, and transmits the second warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the second warning information; step S5 includes: the roadside controller controls the first speed limit component and the second speed limit component to move to the second target distance on both sides of the obstacle respectively according to the second warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the second warning information above the road, wherein the second target distance is greater than the first target distance.

[0123] In one embodiment of the present invention, step S2 includes: when the vehicle speed is greater than the second preset speed and less than or equal to the first preset speed, determining a third warning signal of the vehicle relative to the obstacle, and transmitting the third warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the third warning information of the vehicle relative to the obstacle based on the third warning signal, and transmits the third warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the third warning information; step S5 includes: the roadside controller controls the first speed limit component and the second speed limit component to move to a third target distance on both sides of the obstacle respectively according to the third warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the third warning information above the road, wherein the third target distance is greater than the first target distance.

[0124] In one embodiment of the present invention, step S2 includes: when the vehicle speed is less than or equal to the second preset speed, determining the fourth warning signal of the vehicle relative to the obstacle, and transmitting the fourth warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the fourth warning information of the vehicle relative to the obstacle based on the fourth warning signal, and transmits the fourth warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the fourth warning information; step S5 includes: the roadside controller controls the first speed limit component and the second speed limit component to maintain the first target distance from both sides of the obstacle according to the fourth warning information, and controls the first display and the second display to extend from the vertical direction of the road to display the fourth warning information above the road.

[0125] In one embodiment of the present invention, step S2 determines the warning signal of the vehicle relative to the obstacle based on the first distance, the second distance, the third distance, the vehicle width and the vehicle speed, and also includes: after determining the first warning signal of the vehicle relative to the obstacle, determining the warning signal of the vehicle relative to the obstacle based on the second distance and the vehicle width.

[0126] In one embodiment of the present invention, step S2 includes: when the difference between the second distance and the vehicle width is greater than the first preset safety distance, determining the fifth warning signal of the vehicle relative to the obstacle, and transmitting the fifth warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the fifth warning information of the vehicle relative to the obstacle based on the fifth warning signal, and transmits the fifth warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the fifth warning information, and controls the vehicle to run at the first preset safety speed according to the fifth warning information; step S5 includes: the roadside controller controls the first display and the second display to extend from the vertical direction of the road to display the fifth warning information above the road.

[0127] In one embodiment of the present invention, step S2 includes: when the difference between the second distance and the vehicle width is greater than the second preset safety distance and less than or equal to the first preset safety distance, determining the sixth warning signal of the vehicle relative to the obstacle, and transmitting the sixth warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the sixth warning information of the vehicle relative to the obstacle based on the sixth warning signal, and transmits the sixth warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the sixth warning information, and controls the vehicle to run at the second preset safety speed according to the sixth warning information; step S5 includes: the roadside controller controls the first display and the second display to extend from the vertical direction of the road to display the sixth warning information above the road.

[0128] In one embodiment of the present invention, step S2 includes: when the difference between the second distance and the vehicle width is less than or equal to the second preset safety distance, determining the seventh warning signal of the vehicle relative to the obstacle, and transmitting the seventh warning signal to the cloud platform through the communication module; step S3 includes: the cloud platform determines the seventh warning information of the vehicle relative to the obstacle based on the seventh warning signal, and transmits the seventh warning information to the on-board controller and the roadside controller respectively through the communication module; step S4 includes: the on-board controller controls the on-board display device of the vehicle to display the seventh warning information, and controls the vehicle to park according to the seventh warning information; step S5 includes: the roadside controller controls the first display and the second display to extend from the vertical direction of the road to display the seventh warning information above the road.

[0129] According to the speed limit control method based on the Internet of Vehicles embodiment of the present invention, it is implemented based on the speed limit control system based on the Internet of Vehicles embodiment of the present invention. By combining the image acquisition module, the lidar module, the edge computing unit, the communication module, the cloud platform, the vehicle-mounted controller, the roadside controller and the Internet of Vehicles technology, the warning information of the vehicle relative to the obstacle can be accurately determined, and the vehicle-mounted display device of the vehicle is controlled by the vehicle-mounted controller to display the warning information and control the vehicle speed according to the warning information. The roadside controller controls the operating status of the speed limit device on one or both sides of the road according to the warning information, thereby not only facilitating the occupants of the vehicle to promptly understand the warning information through the vehicle-mounted display device and to facilitate their response, but also facilitating the automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the vehicle-mounted display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0130] A further embodiment of the present invention also discloses an electronic device.

[0131] In some embodiments, the electronic device includes: the speed limit control system 100 based on the Internet of Vehicles as described in the above embodiments of the present invention.

[0132] In other embodiments, the electronic device includes: a processor, a memory, and a vehicle network-based speed limit control program stored in the memory and runnable on the processor. When the vehicle network-based speed limit control program is executed by the processor, the vehicle network-based speed limit control method described in the above embodiments of the present invention is implemented.

[0133] According to an electronic device of an embodiment of the present invention, a speed limit control system 100 based on the Internet of Vehicles in the above embodiment is provided to execute the speed limit control method based on the Internet of Vehicles in the above embodiment. By combining an image acquisition module, a lidar module, an edge computing unit, a communication module, a cloud platform, an on-board controller, a roadside controller and Internet of Vehicles technology, the warning information of the vehicle relative to an obstacle can be accurately determined, and the on-board controller controls the on-board display device of the vehicle to display the warning information and control the vehicle speed according to the warning information. The roadside controller controls the operating status of the speed limit device on one or both sides of the road according to the warning information, thereby not only facilitating the occupants of the vehicle to promptly understand the warning information through the on-board display device and to facilitate their response, but also facilitating the automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0134] A further embodiment of the present invention also discloses a computer-readable storage medium, on which a speed limit control program based on the Internet of Vehicles is stored. When the speed limit control program based on the Internet of Vehicles is executed by a processor, the speed limit control method based on the Internet of Vehicles as described in the above embodiment of the present invention is implemented.

[0135] According to the computer-readable storage medium of an embodiment of the present invention, when the speed limit control program based on the Internet of Vehicles stored thereon is executed by the processor, the speed limit control method based on the Internet of Vehicles of the above embodiment is executed. By combining the image acquisition module, the lidar module, the edge computing unit, the communication module, the cloud platform, the on-board controller, the roadside controller and the Internet of Vehicles technology, the warning information of the vehicle relative to the obstacle can be accurately determined, and the on-board controller controls the on-board display device of the vehicle to display the warning information and control the vehicle speed according to the warning information. The roadside controller controls the operating status of the speed limit device on one or both sides of the road according to the warning information, thereby not only facilitating the occupants of the vehicle to promptly understand the warning information through the on-board display device and facilitate their response, but also facilitating the automatic control of the vehicle speed when the occupants of the vehicle do not see the warning information displayed on the on-board display device. At the same time, it is convenient for the occupants of the vehicle to promptly understand the warning information through the operating status of the speed limit device, thereby comprehensively ensuring the driving safety of the vehicle.

[0136] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0137] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A speed limit control system based on the Internet of Vehicles, characterized in that: include: An image acquisition module, provided on one side or both sides of a road, for acquiring first obstacle information on the road and first vehicle information of the vehicle; a laser radar module, disposed on one side or both sides of the road, for collecting second obstacle information on the road and second vehicle information of the vehicle; an edge computing unit, configured to determine a warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information, and transmit the warning signal to a cloud platform via a communication module; The communication module is used to realize data transmission between the cloud platform, the roadside controller, the vehicle controller and the edge computing unit; The cloud platform is configured to determine warning information of the vehicle relative to the obstacle based on the warning signal, and transmit the warning information to the onboard controller and the roadside controller respectively through the communication module; The vehicle-mounted controller is configured to control the vehicle-mounted display device of the vehicle to display the warning information, and to control the vehicle speed according to the warning information; The roadside controller is used to control the operating status of the speed limit device on one side or both sides of the road according to the warning information.

2. The speed limit control system based on the Internet of Vehicles according to claim 1 is characterized in that: The speed limiting device includes a first speed limiting component and a second speed limiting component movable along the direction of the road, wherein the first speed limiting component and the second speed limiting component are respectively located on both sides of the obstacle along the direction of the road, the first speed limiting component includes a first display that is retractable in a direction perpendicular to the road, and the second speed limiting component includes a second display that is retractable in a direction perpendicular to the road; When controlling the operating state of the speed limit device on one side or both sides of the road according to the warning information, the onboard controller is used to: According to the warning information, the first speed limit component and the second speed limit component are controlled to move to target positions respectively, and the first display and the second display are controlled to extend from a direction perpendicular to the road to display the warning information above the road.

3. The speed limit control system based on the Internet of Vehicles according to claim 2, characterized in that: The first obstacle information and the second obstacle information both include a first distance and a second distance of the obstacle relative to two sides of the road, and the first vehicle information and the second vehicle information both include a vehicle width, a vehicle speed, and a third distance relative to the obstacle; When determining a warning signal of the vehicle relative to an obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information, the edge computing unit is configured to: A warning signal of the vehicle relative to an obstacle is determined according to the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed.

4. The speed limit control system based on the Internet of Vehicles according to claim 3 is characterized in that: When determining a warning signal of the vehicle relative to an obstacle based on the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed, the edge computing unit is configured to: when the first distance is greater than a first preset distance, determine a first warning signal of the vehicle relative to the obstacle, and transmit the first warning signal to the cloud platform through the communication module; The cloud platform is configured to determine first warning information of the vehicle relative to the obstacle based on the first warning signal, and transmit the first warning information to the onboard controller and the roadside controller respectively through the communication module; The vehicle-mounted controller is used to control the vehicle-mounted display device of the vehicle to display the first warning information; The roadside controller is used to control the first speed limit component and the second speed limit component to move to a first target distance on both sides of the obstacle according to the first warning information, and control the first display and the second display to extend from a direction perpendicular to the road to display the first warning information above the road.

5. The speed limit control system based on the Internet of Vehicles according to claim 4 is characterized in that: When determining a warning signal of the vehicle relative to an obstacle based on the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed, the edge computing unit is further configured to: After the first warning signal of the vehicle relative to the obstacle is determined, a warning signal of the vehicle relative to the obstacle is determined according to the third distance and the vehicle speed.

6. The speed limit control system based on the Internet of Vehicles according to claim 5, characterized in that: When determining the warning signal of the vehicle relative to an obstacle based on the third distance and the vehicle speed, the edge computing unit is used to: when the third distance is less than or equal to a second preset distance, determine the warning signal of the vehicle relative to the obstacle based on the vehicle speed, wherein the second preset distance is greater than the first preset distance.

7. The speed limit control system based on the Internet of Vehicles according to claim 6, characterized in that: When determining the warning signal of the vehicle relative to the obstacle based on the vehicle speed, the edge computing unit is used to: When the vehicle speed is greater than a first preset speed, determining a second warning signal of the vehicle relative to an obstacle, and transmitting the second warning signal to a cloud platform through the communication module; The cloud platform is configured to determine second warning information of the vehicle relative to the obstacle based on the second warning signal, and transmit the second warning information to the onboard controller and the roadside controller respectively through the communication module; The vehicle-mounted controller is used to control the vehicle-mounted display device of the vehicle to display the second warning information; The roadside controller is used to control the first speed limit component and the second speed limit component to move to a second target distance on both sides of the obstacle according to the second warning information, and control the first display and the second display to extend from the vertical direction of the road to display the second warning information above the road, wherein the second target distance is greater than the first target distance.

8. The speed limit control system based on the Internet of Vehicles according to claim 6, characterized in that: When determining the warning signal of the vehicle relative to the obstacle based on the vehicle speed, the edge computing unit is used to: When the vehicle speed is greater than a second preset speed and less than or equal to a first preset speed, determining a third warning signal of the vehicle relative to an obstacle, and transmitting the third warning signal to a cloud platform through the communication module; The cloud platform is configured to determine third warning information of the vehicle relative to the obstacle based on the third warning signal, and transmit the third warning information to the onboard controller and the roadside controller respectively through the communication module; The vehicle-mounted controller is used to control the vehicle-mounted display device of the vehicle to display the third warning information; The roadside controller is configured to control the first speed limit component and the second speed limit component to move to a third target distance from both sides of the obstacle, respectively, based on the third warning information, and to control the first display and the second display to extend perpendicularly from the road to display the third warning information above the road, wherein the third target distance is greater than the first target distance.

9. The speed limit control system based on the Internet of Vehicles according to claim 6, characterized in that: When determining the warning signal of the vehicle relative to the obstacle based on the vehicle speed, the edge computing unit is used to: When the vehicle speed is less than or equal to a second preset speed, determining a fourth warning signal of the vehicle relative to an obstacle, and transmitting the fourth warning signal to a cloud platform through the communication module; The cloud platform is configured to determine fourth warning information of the vehicle relative to the obstacle based on the fourth warning signal, and transmit the fourth warning information to the onboard controller and the roadside controller respectively through the communication module; The vehicle-mounted controller is used to control the vehicle-mounted display device of the vehicle to display the fourth warning information; The roadside controller is used to control the first speed limit component and the second speed limit component to maintain a first target distance from both sides of the obstacle according to the fourth warning information, and control the first display and the second display to extend from the vertical direction of the road to display the fourth warning information above the road.

10. The speed limit control system based on the Internet of Vehicles according to claim 4, characterized in that: When determining a warning signal of the vehicle relative to an obstacle based on the first distance, the second distance, the third distance, the vehicle width, and the vehicle speed, the edge computing unit is further configured to: After the first warning signal of the vehicle relative to the obstacle is determined, the warning signal of the vehicle relative to the obstacle is determined according to the second distance and the vehicle width.

11. The speed limit control system based on the Internet of Vehicles according to claim 10, characterized in that: When determining a warning signal of the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit is configured to: When the difference between the second distance and the vehicle width is greater than a first preset safety distance, determining a fifth warning signal of the vehicle relative to the obstacle, and transmitting the fifth warning signal to the cloud platform through the communication module; The cloud platform is configured to determine fifth warning information of the vehicle relative to the obstacle based on the fifth warning signal, and transmit the fifth warning information to the onboard controller and the roadside controller respectively through the communication module; The on-board controller is used to control the on-board display device of the vehicle to display the fifth warning information, and control the vehicle to run at a first preset safe speed according to the fifth warning information; The roadside controller is used to control the first display and the second display to extend vertically from the road to display the fifth warning information above the road.

12. The speed limit control system based on the Internet of Vehicles according to claim 10, characterized in that: When determining a warning signal of the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit is configured to: When the difference between the second distance and the vehicle width is greater than a second preset safety distance and less than or equal to a first preset safety distance, determining a sixth warning signal of the vehicle relative to the obstacle, and transmitting the sixth warning signal to the cloud platform through the communication module; The cloud platform is configured to determine sixth warning information of the vehicle relative to the obstacle based on the sixth warning signal, and transmit the sixth warning information to the onboard controller and the roadside controller respectively through the communication module; The on-board controller is used to control the on-board display device of the vehicle to display the sixth warning information, and control the vehicle to run at a second preset safe speed according to the sixth warning information; The roadside controller is used to control the first display and the second display to extend vertically from the road to display the sixth warning information above the road.

13. The speed limit control system based on the Internet of Vehicles according to claim 10, characterized in that: When determining a warning signal of the vehicle relative to an obstacle based on the second distance and the vehicle width, the edge computing unit is configured to: When the difference between the second distance and the vehicle width is less than or equal to a second preset safety distance, determining a seventh warning signal of the vehicle relative to the obstacle, and transmitting the seventh warning signal to the cloud platform through the communication module; The cloud platform is configured to determine seventh warning information of the vehicle relative to the obstacle based on the seventh warning signal, and transmit the seventh warning information to the onboard controller and the roadside controller respectively through the communication module; The vehicle-mounted controller is used to control the vehicle-mounted display device of the vehicle to display the seventh warning information, and control the vehicle to park according to the seventh warning information; The roadside controller is used to control the first display and the second display to extend vertically from the road to display the seventh warning information above the road.

14. A speed limit control method based on the Internet of Vehicles, the method comprising the following steps: Acquiring first obstacle information and second obstacle information on the road, and acquiring first vehicle information and second vehicle information of the vehicle; determining a warning signal of the vehicle relative to the obstacle based on the first obstacle information, the first vehicle information, the second obstacle information, and the second vehicle information; determining warning information of the vehicle relative to the obstacle according to the warning signal; Controlling the vehicle-mounted display device of the vehicle to display the warning information, and controlling the vehicle speed according to the warning information; The operating state of the speed limit device on one side or both sides of the road is controlled according to the warning information.

15. An electronic device comprising: The speed limit control system based on the Internet of Vehicles according to any one of claims 1 to 13; or, A processor, a memory, and a speed limit control program based on the Internet of Vehicles stored in the memory and executable on the processor, wherein the speed limit control program based on the Internet of Vehicles, when executed by the processor, implements the speed limit control method based on the Internet of Vehicles as claimed in claim 14.

16. A computer-readable storage medium, wherein a speed limit control program based on the Internet of Vehicles is stored on the computer-readable storage medium, wherein the speed limit control program based on the Internet of Vehicles, when executed by a processor, implements the speed limit control method based on the Internet of Vehicles according to claim 14.

Images