Vehicle control method and device

Abstract

The invention relates to a vehicle control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring preset speed limit information corresponding to a plurality of different road positions; in the driving process of the vehicle on the first road, determining a first driving position of the vehicle on the first road and a road speed limit of the vehicle on a second road behind the first road; screening a target position matched with the first driving position from the road positions; under the condition that the first preset speed limit exists in the preset speed limit information corresponding to the target position, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit; and controlling the vehicle to run on the second road at the target speed. By adopting the method, the safety and convenience of vehicle driving can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle cruise control technology, and in particular to a vehicle control method, device, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] Cruise control is widely used in modern vehicles and aims to reduce driver workload by automatically adjusting vehicle speed. In practical applications, a target speed can be set based on the road speed limit, and the vehicle's movement can be controlled based on that target speed.

[0003] However, in actual vehicle control, there are issues with low vehicle driving safety. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve vehicle driving safety in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a vehicle control method, including:

[0006] Obtain preset speed limit information corresponding to multiple different road locations;

[0007] While the vehicle is traveling on the first road, determine the first driving position of the vehicle on the first road and the speed limit of the second road after the first road;

[0008] From the various road locations, select a target location that matches the first driving location;

[0009] If a first preset speed limit exists in the preset speed limit information corresponding to the target location, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit;

[0010] Control the vehicle to travel on the second road at the target speed.

[0011] In one embodiment, the method further includes:

[0012] Determine the confidence level of the speed limit on the road;

[0013] The step of obtaining the target speed based on the difference between the first preset speed limit and the road speed limit includes:

[0014] The target speed is obtained based on the difference between the first preset speed limit and the road speed limit, and the confidence level.

[0015] In one embodiment, the method further includes:

[0016] If the first preset speed limit is not present in the preset speed limit information corresponding to the target location, the target speed is obtained based on the confidence level.

[0017] In one embodiment, obtaining the target speed based on the difference between the first preset speed limit and the road speed limit, and the confidence level, includes any one of the following:

[0018] First item:

[0019] If the first preset speed limit is inconsistent with the road speed limit, and the confidence level is greater than or equal to the confidence level threshold, the vehicle touch screen is controlled to display speed confirmation information, which includes the road speed limit.

[0020] If a confirmation command for the road speed limit is received by the vehicle touchscreen within a first preset time period, the road speed limit is determined as the target speed.

[0021] Second item:

[0022] If the first preset speed limit is inconsistent with the road speed limit, and the confidence level is less than the confidence level threshold, the first preset speed limit is determined as the target speed.

[0023] In one embodiment, obtaining the target speed based on the confidence level includes:

[0024] If the confidence level is greater than or equal to the confidence level threshold, the road speed limit is determined as the target speed;

[0025] If the confidence level is less than the confidence threshold, the set speed received by the vehicle touch screen within the second preset time period is determined as the target speed limit.

[0026] In one embodiment, determining the confidence level of the road speed limit includes:

[0027] Determine the status score of the sensor corresponding to the road speed limit;

[0028] Based on the difference between the speed limit on the road and the vehicle speed limit on the map that matches the second road, a consistency score of the speed limit on the road relative to the map is obtained.

[0029] Based on the number of times multiple candidate vehicles are identified for the road speed limit, a target recognition score corresponding to the road speed limit is determined;

[0030] The confidence level of the road speed limit is determined based on the state score, the consistency score, and the target recognition score.

[0031] In one embodiment, controlling the vehicle to travel at the target speed on the second road includes:

[0032] Determine the speed control mode corresponding to the vehicle;

[0033] When the speed adjustment mode is in manual confirmation mode, the vehicle touch screen displays first control confirmation information, which includes the target speed.

[0034] If, within a second preset time period, the vehicle receives a confirmation command for the target speed via the in-vehicle touchscreen, the vehicle is controlled to travel at the target speed on the second road.

[0035] In one embodiment, the road location includes the road starting location; obtaining the target speed based on the difference between the first preset speed limit and the road speed limit includes:

[0036] From the starting positions of each road, select the target initial position that matches the second road;

[0037] If the distance between the initial target position and the first driving position is less than or equal to the first preset distance, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit.

[0038] In one embodiment, the road location further includes the road end location corresponding to the road start location; after controlling the vehicle to travel on the second road at the target speed, the method further includes:

[0039] Obtain the second driving position of the vehicle;

[0040] If the distance between the second driving position and the road end position corresponding to the target initial position is greater than or equal to the second preset distance, the vehicle is controlled to drive at the speed before entering the second road.

[0041] Secondly, this application provides a vehicle control device, the device comprising:

[0042] The acquisition module is used to acquire preset speed limit information corresponding to multiple different road locations;

[0043] The determination module is used to determine the first driving position of the vehicle on the first road and the road speed limit of the vehicle on the second road after the first road while the vehicle is driving on the first road.

[0044] The filtering module is used to filter target locations that match the first driving location from each of the road locations;

[0045] The analysis module is used to obtain the target speed based on the difference between the first preset speed limit and the road speed limit when a first preset speed limit exists in the preset speed limit information corresponding to the target location.

[0046] A control module is used to control the vehicle to travel on the second road at the target speed.

[0047] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0048] Obtain preset speed limit information corresponding to multiple different road locations;

[0049] While the vehicle is traveling on the first road, determine the first driving position of the vehicle on the first road and the speed limit of the second road after the first road;

[0050] From the various road locations, select a target location that matches the first driving location;

[0051] If a first preset speed limit exists in the preset speed limit information corresponding to the target location, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit;

[0052] Control the vehicle to travel on the second road at the target speed.

[0053] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0054] Obtain preset speed limit information corresponding to multiple different road locations;

[0055] While the vehicle is traveling on the first road, determine the first driving position of the vehicle on the first road and the speed limit of the second road after the first road;

[0056] From the various road locations, select a target location that matches the first driving location;

[0057] If a first preset speed limit exists in the preset speed limit information corresponding to the target location, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit;

[0058] Control the vehicle to travel on the second road at the target speed.

[0059] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0060] Obtain preset speed limit information corresponding to multiple different road locations;

[0061] While the vehicle is traveling on the first road, determine the first driving position of the vehicle on the first road and the speed limit of the second road after the first road;

[0062] From the various road locations, select a target location that matches the first driving location;

[0063] If a first preset speed limit exists in the preset speed limit information corresponding to the target location, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit;

[0064] Control the vehicle to travel on the second road at the target speed.

[0065] The aforementioned vehicle control method, device, computer equipment, computer-readable storage medium, and computer program product, by pre-setting multiple preset speed limit information corresponding to different road locations, avoid distracted driving caused by the driver repeatedly adjusting the driving speed manually, thereby reducing driving risks and improving vehicle driving safety and convenience. When the vehicle is traveling on the first road, the system determines the vehicle's first driving position on the first road and the road speed limit of the second road following the first road. From each road location, a target position matching the first driving position is selected. If a first preset speed limit exists in the preset speed limit information corresponding to the target position, a target speed is obtained based on the difference between the first preset speed limit and the road speed limit. The vehicle is then controlled to travel at the target speed on the second road. Therefore, by considering the difference between the identified road speed limit and the pre-set first preset speed limit, controlling the vehicle's travel on the second road based on the target speed can improve driving safety. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 This is a flowchart illustrating a vehicle control method in one embodiment;

[0068] Figure 2 This is a flowchart illustrating the process of determining the target speed based on confidence level and preset speed limit information for each road location in one embodiment.

[0069] Figure 3 This is a control schematic diagram of a vehicle control method in one embodiment;

[0070] Figure 4 This is a flowchart illustrating how the confidence level of a road speed limit is determined in one embodiment.

[0071] Figure 5 This is a control schematic diagram of the vehicle control method in another embodiment;

[0072] Figure 6 This is a flowchart illustrating the vehicle control method in another embodiment;

[0073] Figure 7 This is a structural block diagram of a vehicle control device in one embodiment;

[0074] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0076] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0077] In actual vehicle control, a vehicle can execute a basic cruise mode, such as storing a target speed. However, when the vehicle travels in different speed-limited areas (e.g., entering a tunnel area with speed limit A from a non-tunnel area with speed limit B), the driver needs to manually adjust the speed repeatedly, possibly 2-3 times per road segment. Therefore, storing a single target speed cannot adapt to real-time changes in road conditions, reducing the convenience and user acceptance of the vehicle. Furthermore, this increases the operational burden, potentially leading to driver distraction and fatigue, increasing driving risks and accident risks, thus compromising vehicle driving safety. Moreover, environmental factors (such as weather, obstructions, etc.) or sensor errors may cause incorrect identification of road speed limits, further compromising driving safety.

[0078] Therefore, driver intervention can be reduced by memorizing and automatically recalling multiple road speed limits to improve the convenience and safety of cruise control. For example, multiple road speed limits can be pre-stored, thereby reducing driving risks and improving vehicle safety by avoiding driver distraction and fatigue caused by manually adjusting the speed repeatedly. Furthermore, the confidence level of the identified road speed limits can be considered; by determining the target speed based on the confidence level and controlling the vehicle based on that target speed, driving safety can be further enhanced.

[0079] In one embodiment, such as Figure 1 As shown, a vehicle control method is provided, and the method is illustrated using an electronic control unit (ECU) in a vehicle as an example, including:

[0080] S102, obtain preset speed limit information corresponding to multiple different road locations.

[0081] The preset speed limit information refers to pre-stored road speed limit information matched with the road location. This preset speed limit information includes, but is not limited to, road length, road location, road name, road signs, and the preset speed limit itself. The road location can be represented by longitude and latitude. For example, the road location can represent a tunnel location and a non-tunnel location, and can include the road's start and end points.

[0082] Specifically, the road location includes the starting position of the tunnel (i.e., the tunnel entrance position) and the ending position of the tunnel (i.e., the tunnel exit position). The preset speed limit refers to the speed limit corresponding to the tunnel between the tunnel entrance position and the tunnel exit position. For example, the preset speed limit can be represented by V_target'1.

[0083] Specifically, the road location includes the starting and ending points of non-tunnel locations, and the preset speed limit refers to the road speed limit corresponding to the non-tunnel location. For example, the preset speed limit can be represented by V_target'2.

[0084] For example, the vehicle's ECU has an embedded non-volatile memory that stores multiple preset speed limit information corresponding to different road locations. This allows the vehicle to retrieve multiple preset speed limit information corresponding to different road locations from the non-volatile memory.

[0085] The method for obtaining preset speed limit information corresponding to multiple different road locations is not limited, and at least one of the following methods can be used to obtain it, specifically:

[0086] The second approach involves obtaining preset speed limit information from roadside monitoring equipment at multiple different road locations. Alternatively, the vehicle can provide a user interface (such as an in-vehicle touchscreen) to receive user-defined road locations and corresponding preset speed limits. This empowers the user, improving the vehicle's adaptability and convenience. Furthermore, in areas with changing speed limits, drivers can preset speed limits, avoiding the burden of real-time adjustments, reducing driving risks, and enhancing driving safety.

[0087] For example, road locations and corresponding preset speed limits added by multiple drivers can be shared, thereby optimizing the preset speed limits and further improving driving convenience. For example, drivers can also edit and delete stored road locations and corresponding preset speed limits in the vehicle through a user interface.

[0088] S104, while the vehicle is traveling on the first road, determine the vehicle's first driving position on the first road and the speed limit of the second road following the first road.

[0089] The first driving position refers to the real-time position of the vehicle while it is traveling on the first road. For example, the vehicle is equipped with a position sensor, which can detect the first driving position. The position sensor may include a Global Positioning System (GPS).

[0090] The speed limit for the second road sign differs from that for the first road sign. In other words, the second road has a different speed limit than the first road sign; for example, the first road might indicate a non-tunnel road, while the second road might indicate a tunnel road. Road speed limits indicated by traffic signs refer to the speed limits clearly marked on the road.

[0091] In an optional implementation, the speed limit of the second road following the first road can be determined based on the vehicle's travel route. Here, the vehicle's travel route refers to the actual path the vehicle takes to reach its destination, and the second road refers to the road the vehicle will enter after the first road.

[0092] In an alternative implementation, the vehicle is equipped with sensors that can detect the speed limit of the second road. For example, the sensors may include cameras.

[0093] S106: Select target locations that match the first driving position from all road locations.

[0094] Specifically, the road location closest to the first driving position among all road locations is determined as the target location matching the first driving position. For example, if the road location includes the starting position of a tunnel, then the starting position of the tunnel closest to the first driving position is determined as the target location.

[0095] S108, if a first preset speed limit exists in the preset speed limit information corresponding to the target location, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit.

[0096] In the optional implementation, the road speed limit is determined as the target speed when the first preset speed limit is the same as the road speed limit, or when the difference between the first preset speed limit and the road speed limit is within a preset range.

[0097] In the optional implementation, if the first preset speed limit is inconsistent with the road speed limit, or if the difference between the first preset speed limit and the road speed limit is outside a preset range, the first preset speed limit shall be determined as the target speed.

[0098] S110 controls the vehicle to travel at a target speed on the second road.

[0099] For example, the ECU sends a target speed to the vehicle actuators (such as the throttle / brake system), thereby controlling the vehicle to travel at the target speed on a second road via the vehicle actuators.

[0100] based on Figure 1The method described above, by pre-setting multiple preset speed limits for different road locations, avoids distracted driving caused by drivers repeatedly adjusting speed manually, thus reducing driving risks and improving vehicle safety and convenience. When the vehicle is traveling on the first road, its initial position on that road and the speed limit of the second road following it are determined. From these road locations, a target position matching the initial position is selected. If a first preset speed limit exists for the target position, the target speed is determined based on the difference between the first preset speed limit and the road speed limit. The vehicle is then controlled to travel at the target speed on the second road. Therefore, by considering the difference between the identified road speed limit and the pre-set first preset speed limit, controlling the vehicle's movement on the second road based on the target speed improves driving safety.

[0101] In one embodiment, such as Figure 2 As shown, a method for obtaining a target speed based on the difference between a first preset speed limit and a road speed limit is provided. Taking the application of this method to the ECU in a vehicle as an example, it includes the following steps:

[0102] S202, Determine the confidence level of road speed limits.

[0103] The confidence level of the road speed limit is used to characterize its accuracy. The method for determining the confidence level of the road speed limit is not limited. For example, the vehicle's speed on the first road is acquired. If the speed is greater than or equal to a preset speed threshold, the confidence level of the road speed limit is determined as a first preset confidence level. If the speed is less than the preset speed threshold, the confidence level of the road speed limit is determined as a second preset confidence level. The second preset confidence level is greater than the first preset confidence level.

[0104] It is understandable that when a vehicle is traveling at a slow speed, the higher the accuracy of the sensors on the vehicle, the higher the confidence level of the road speed limit. Therefore, it is possible to set the vehicle speed and the confidence level to be inversely correlated.

[0105] S204. Based on the difference between the first preset speed limit and the road speed limit, and the confidence level, the target speed is obtained.

[0106] For example, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit, and the confidence level, including any of the following:

[0107] The first measure: When the preset speed limit and the road speed limit are inconsistent, and the confidence level is greater than or equal to the confidence threshold, the vehicle touchscreen is controlled to display speed confirmation information, including the road speed limit; if a confirmation command for the road speed limit is received on the vehicle touchscreen within a first preset time period, the road speed limit is determined as the target speed. Therefore, by allowing the driver to confirm the target speed a second time via the vehicle touchscreen, driving safety can be improved.

[0108] The second measure: If the first preset speed limit is inconsistent with the road speed limit, and the confidence level is less than the confidence threshold, the first preset speed limit is determined as the target speed. Therefore, when the road speed limit identified by the vehicle is determined to be inaccurate based on the confidence level of the road speed limit, determining the pre-stored first preset speed limit as the target speed can improve the vehicle's driving safety on the second road.

[0109] based on Figure 2 The content shown shows that by determining the confidence level of the road speed limit, and based on the difference between the first preset speed limit and the road speed limit, as well as the confidence level, the target speed is obtained. Therefore, by considering the confidence level of the road speed limit for the vehicle, the accuracy of the analysis can be improved, and the driving safety of the vehicle on the second road can be further improved.

[0110] In one embodiment, the method further includes: obtaining the target speed based on confidence level when there is no first preset speed limit in the preset speed limit information corresponding to the target location.

[0111] In an optional implementation, the road speed limit is determined as the target speed when the confidence level is greater than or equal to a confidence threshold. Therefore, by determining the road speed limit identified by the vehicle to be accurate based on the confidence level of the road speed limit, the driving safety of the vehicle on the secondary road can be improved.

[0112] In an optional implementation, if the confidence level is less than a confidence threshold, the set speed received by the vehicle's touchscreen within a third preset time period is determined as the target speed limit. Therefore, if the confidence level of the road speed limit indicates that the speed limit recognized by the vehicle is inaccurate, allowing the driver to manually set the driving speed can improve driving safety.

[0113] Specifically, when the confidence level is less than a confidence threshold, the vehicle touchscreen displays a setting prompt message to remind the driver to set a road speed limit. If the vehicle touchscreen receives feedback on the speed in response to the setting prompt message within a third preset time period, that speed is determined as the set speed. In some cases, if no speed feedback is received within the third preset time period, the vehicle's current speed is determined as the target speed. The third preset time period can be 2 seconds.

[0114] Understandably, determining the target speed based on different confidence levels can improve vehicle driving safety in various driving scenarios.

[0115] In one embodiment, if a first preset speed limit exists in the preset speed limit information corresponding to the target location, and the confidence level of the road speed limit is less than a confidence threshold, then the first preset speed limit is determined as the target speed. Therefore, even if the road speed limit identified by the vehicle is determined to be inaccurate based on confidence level, determining the pre-stored first preset speed limit as the target speed can improve the driving safety of the vehicle on the second road.

[0116] In summary, such as Figure 3 The diagram illustrates a vehicle control method. Condition A indicates that a first preset speed limit V_target' exists in the preset speed limit information corresponding to the target location; for ease of description, condition A is simplified to "the first preset speed limit V_target' exists." Condition B indicates that the confidence level of the road speed limit S_limit is greater than or equal to the confidence threshold; for ease of description, condition B is simplified to "the road speed limit S_limit is reliable." Condition C indicates that the first preset speed limit V_target' is consistent with the road speed limit S_limit.

[0117] If A is true and C is true, or if A is true and B is false, the first preset speed limit V_target' is determined as the target speed, and then the vehicle is controlled to travel at the target speed on the second road according to the vehicle's corresponding automatic control mode or manual confirmation mode.

[0118] If A is false and B is true, the road speed limit S_limit is determined as the target speed, and then the vehicle is controlled to travel at the target speed on the second road according to the vehicle's corresponding automatic control mode or manual confirmation mode.

[0119] If A is true, B is true, and C is false, the vehicle touchscreen is controlled to display speed confirmation information, which includes the road speed limit. If the vehicle touchscreen receives a confirmation command for the road speed limit within a first preset time period, the road speed limit is determined as the target speed.

[0120] If both A and B are false, the vehicle touchscreen displays a setting prompt message to remind the driver to set a road speed limit. If the vehicle touchscreen receives feedback on the setting prompt message within a third preset time period, the set speed is determined as the target speed.

[0121] In one embodiment, such as Figure 4 The diagram illustrates a process for determining the confidence level of a road speed limit. Taking the application of this method to the ECU in a vehicle as an example, the steps include:

[0122] S402, determine the status score of the sensor corresponding to the road speed limit.

[0123] Specifically, the status score of the sensor corresponding to the road speed limit is determined based on whether the sensor is blocked and the ambient light when the sensor is detected.

[0124] For example, when the sensor is unobstructed and the ambient light is greater than or equal to a preset light threshold, the sensor's state score is determined to be a first preset state score; when at least one of the following conditions is met, the sensor's state score is determined to be a second preset state score.

[0125] The second preset state score is lower than the first preset state score. For example, the first preset state score can be represented by the number 1, and the second preset state score can be represented by the number 0, or other representation methods can be used.

[0126] S404, based on the difference between the road speed limit and the vehicle speed limit matched with the second road in the map, obtains the consistency score of the road speed limit relative to the map.

[0127] Specifically, when the road speed limit is consistent with the vehicle speed limit on the map that matches the second road, the consistency score of the road speed limit relative to the map is determined as the first preset consistency score; when the road speed limit is inconsistent with the vehicle speed limit on the map that matches the second road, the consistency score of the road speed limit relative to the map is determined as the second preset consistency score.

[0128] The second preset consistency score is lower than the first preset consistency score. For example, the first preset consistency score can be represented by the number 1, and the second preset consistency score can be represented by the number 0, or other representation methods can be used.

[0129] S406 determines the target recognition score corresponding to the road speed limit based on the number of times multiple candidate vehicles are identified for the road speed limit.

[0130] The target recognition score is used to characterize the accuracy of road speed limit recognition. For example, the number of recognitions includes the total number of recognitions of multiple candidate vehicles for the road speed limit and the number of correct recognitions. The target recognition score is then characterized by the ratio of the number of correct recognitions to the total number of recognitions.

[0131] S408 determines the confidence level of road speed limits based on state scores, consistency scores, and target recognition scores.

[0132] For example, the state score, consistency score, and target recognition score are weighted and summed to obtain the confidence level of the road speed limit. Specifically, a first product between the state score and a first preset weight is obtained; a second product between the consistency score and a second preset weight is obtained; a third product between the target recognition score and a third preset weight is obtained; and the sum of the first, second, and third products is determined as the confidence level of the road speed limit.

[0133] The sum of the first preset weight, the second preset weight, and the third preset weight is 1.

[0134] For example, taking a sensor as a camera, with a first preset weight of 0.4, a second preset weight of 0.3, and a third preset weight of 0.3, when a vehicle enters a tunnel, the camera is blocked due to a sudden change in light, and the light inside the tunnel is less than a preset light threshold. The state score is determined to be the second preset state score, represented by the number 0. If the road speed limit displayed on the map is consistent with the road speed limit detected by the sensor in the tunnel, the consistency score of the road speed limit relative to the map is determined to be the first preset consistency score, represented by the number 1. If the target recognition score for the road speed limit is 80%, then the confidence score C_score of the road speed limit satisfies:

[0135] C_score=0.4×0+0.3×1+0.3×0.8=0+0.3+0.24=0.54

[0136] Taking a confidence threshold of 0.7 as an example, since 0.54 is less than 0.7, it is determined that the road speed limit identified by the vehicle is unreliable. Therefore, the vehicle can be controlled to travel on the second road by switching to the stored first preset speed limit (such as 80km / h).

[0137] In one embodiment, the method of controlling the vehicle to travel at a target speed on the second road is not limited. For example, a corresponding speed control mode for the vehicle is determined; the vehicle is then controlled to travel at the target speed on the second road according to the speed control mode. Here, the speed control mode refers to a mode that individually adjusts the vehicle's travel speed. For example, the speed control mode may include an automatic control mode and a manual confirmation mode; the automatic control mode represents automatically controlling the vehicle to travel according to the travel speed, and the manual confirmation mode represents controlling the vehicle to travel when the travel speed is manually determined.

[0138] Specifically, when the debugging mode includes the automatic control mode, the vehicle is automatically controlled to travel at the target speed on the second road.

[0139] Specifically, when the speed control mode includes a manual confirmation mode, the vehicle touchscreen is controlled to display first control confirmation information, which includes the target speed; and when the vehicle touchscreen receives a confirmation command for the target speed within a second preset time period, the vehicle is controlled to travel at the target speed on the second road.

[0140] In some cases, if no confirmation command for the target speed is received from the vehicle's touchscreen within a second preset time period, the vehicle will be controlled to travel at the current speed on a second road. The second preset time period is less than or equal to 2 seconds.

[0141] In one embodiment, the road location includes a road starting position. A target speed is obtained based on the difference between a first preset speed limit and the road speed limit. From the various road starting positions, a target initial position matching the second road is selected. If the distance between the target initial position and the first driving position is less than or equal to a first preset distance, the target speed is obtained again based on the difference between the first preset speed limit and the road speed limit. Therefore, before entering the second road, the target speed of the vehicle on the second road can be determined, allowing the vehicle to travel at the target speed after entering the second road, thus improving driving safety on the second road.

[0142] The first preset distance is less than or equal to 300 meters. For example, if the first preset distance is 200 meters, P_current represents the first driving position, P_stored_start represents the initial target position, and the distance D_start between P_current and P_stored_start is determined. If D_start ≤ 200m, the step of obtaining the target speed based on the difference between the first preset speed limit and the road speed limit is executed.

[0143] In one embodiment, the road location also includes the road end location corresponding to the road start location. After controlling the vehicle to travel at a target speed on the second road, the method further includes: obtaining a second driving position of the vehicle; and if the distance between the second driving position and the road end location corresponding to the target start location is greater than or equal to a second preset distance, controlling the vehicle to travel at the speed before entering the second road. Therefore, by controlling the vehicle to travel at the speed before entering the second road after it has traveled a certain distance from the second road, or when the vehicle has exited the second road, the convenience of driving the vehicle can be improved.

[0144] The second preset distance is within a preset distance range. For example, the upper limit of the preset distance range is 100 meters and the lower limit is 0 meters. In the relevant embodiments of this application, the second preset distance can be 0 meters or 50 meters.

[0145] For example, the vehicle's corresponding speed control mode is determined; when the speed control mode is a manual confirmation mode, the vehicle touchscreen is controlled to display second control confirmation information, which includes the vehicle's speed before entering the second road; if a confirmation command for the vehicle's speed before entering the second road is received on the vehicle touchscreen within a fourth preset time period, the vehicle is controlled to travel at the speed before entering the second road. When the speed control mode is an automatic control mode, the vehicle is automatically controlled to travel at the speed before entering the second road.

[0146] As shown in Table 1, a parameter table is provided, wherein:

[0147] Table 1

[0148]

[0149] Based on the content shown in Table 1, such as Figure 5 The diagram illustrates a vehicle control method. During vehicle operation, the quality of the GPS signal can be monitored in real time to assess the accuracy of the detected first driving position of the vehicle on the first road. Simultaneously, the operating status of sensors (such as cameras) can be monitored in real time to determine whether the sensors are obstructed and the ambient light level at the time of detection.

[0150] If at least one of the GPS signal quality or sensor operating conditions is abnormal, the vehicle will be controlled to execute the basic cruise mode, and an alarm will be issued to the user to indicate that the vehicle's cruise control function is unavailable. The basic cruise mode represents a mode where the vehicle stores a single preset speed limit, requiring the driver to manually adjust the target speed repeatedly in scenarios where the speed limit changes frequently. For example, the driver can manually set a target speed (e.g., 100 km / h); when the vehicle enters a tunnel (speed limit 80 km / h), the vehicle cannot adjust automatically, and the driver needs to manually lower the speed to 80 km / h; after exiting the tunnel, the speed must be manually adjusted back to 100 km / h.

[0151] If there are no abnormalities in the GPS signal quality or the sensor's operating status, the vehicle control method provided in this application can be executed, i.e., the vehicle's cruise control function can be activated. Specifically, the vehicle's first driving position (P_current) and the road speed limit (S_limit) on the first road are determined; by acquiring preset speed limit information corresponding to multiple different road positions, the target initial position (P_stored_start) matching the second road can be determined. The driver can add road positions and corresponding preset speed limit information through the user interface configured in the vehicle. For example, the driver can select the "add location" function through the in-vehicle touchscreen to add road positions and corresponding preset speed limit information.

[0152] Based on the initial target position (P_stored_start) and the first driving position (P_current), D_start is calculated, where D_start = P_stored_start - P_current. If D_start is less than or equal to 200 meters, the target speed V_output is determined, and the vehicle is then controlled to travel at the target speed V_output on the second road.

[0153] After the vehicle travels on the second road with V_output, its second driving position, i.e., the new P_current, is obtained again. Based on the road end position (P_stored_end) corresponding to the initial target position and the new P_current, D_end is calculated, where D_end = new P_current - P_stored_end. If D_end is greater than or equal to 50 meters, the vehicle is controlled to travel at the speed it was at before entering the second road, that is, the vehicle's speed is restored to the speed it was at before entering the second road.

[0154] Combination Figure 5 The content shown is as follows: Figure 6 The diagram illustrates a vehicle control method, using the application of this method to the ECU in a vehicle as an example. The method includes the following steps:

[0155] S602, the driver activates cruise control.

[0156] S604 retrieves preset speed limit information corresponding to multiple different road locations.

[0157] S606, while the vehicle is traveling on the first road, determine the vehicle's first driving position (P_current) on the first road, the road speed limit (S_limit) of the second road after the first road, and the confidence level of the road speed limit.

[0158] S608, based on the first driving position (P_current) and the target initial position (P_stored_start), obtain D_start, D_start=P_stored_start-P_current.

[0159] S610, determine whether D_start is less than or equal to 200 meters.

[0160] If D_start is less than or equal to 200 meters, then S612 is executed; otherwise, S608 is executed.

[0161] S612 determines the target speed V_output based on the confidence level of the road speed limit and the preset speed limit information for each road location.

[0162] S614 controls the vehicle to travel on the second road at the target speed V_output.

[0163] Furthermore, after the vehicle travels on the second road at the target speed V_output, a new P_current is acquired. Based on the road end position (P_stored_end) corresponding to the target initial position and the new P_current, D_end is calculated, where D_end = new P_current - P_stored_end. If D_end is greater than or equal to 50 meters, the vehicle is controlled to travel at the speed it was traveling at before entering the second road.

[0164] Understandably, if the vehicle speed is not adjusted at the target initial position (P_stored_start) corresponding to the second road, the process of restoring the vehicle speed after moving away from the second road will not be executed.

[0165] The contents of S602-S614 can be referred to the aforementioned content description, and will not be repeated here.

[0166] Combination Figure 5 and Figure 6 The content shown, taking the second road as a tunnel as an example, as shown in Table 2, provides a driving process for a vehicle to enter a tunnel area from a non-tunnel area, wherein:

[0167] Table 2

[0168]

[0169] For example, when a vehicle is traveling in a non-tunnel area, its speed can be determined based on preset speed limits for multiple different road locations. For instance, a preset speed limit V_target2 (e.g., 100 km / h) can be determined from these preset speed limits for different road locations, and the vehicle can be controlled to travel at V_target2 (100 km / h). After exiting the tunnel and entering the non-tunnel area, the vehicle can resume its speed to V_target2 and be controlled to travel at V_target2 according to the driver's preset driving mode in the non-tunnel area.

[0170] For example, a driver can set a preset tunnel speed limit of V_target1 = 80 km / h and a preset non-tunnel speed limit of V_target2 = 100 km / h, associated with the tunnel entrance location. When the vehicle approaches the tunnel entrance, if the distance between the tunnel entrance and the vehicle's current position is less than or equal to 200 meters, the system can proactively prompt the driver to switch to V_target1, or automatically switch to V_target1, based on the driver's set speed adjustment mode. After exiting the tunnel, if the distance between the vehicle's current position and the tunnel exit is greater than or equal to 50 meters, the system can proactively prompt the driver to switch to V_target2, or automatically switch to V_target2, based on the driver's set speed adjustment mode.

[0171] Based on the above, the vehicle control method provided in this application is applicable to varied highways or urban roads. Therefore, in actual driving, the driver can confirm whether to switch speed with a single click based on pre-selected settings, or the speed can be automatically switched without any manual operation, improving the convenience of vehicle use and expanding the vehicle's robustness under different road conditions. Furthermore, by considering the confidence level of the identified road speed limit, and in cases where the identified road speed limit is determined to be inaccurate based on the confidence level, using pre-stored road speed limits can improve driving safety and ease of use. Moreover, by pre-storing preset speed limit information corresponding to different road locations, it can avoid distracted driving caused by repeatedly adjusting the driving speed manually, reducing driving risks and improving driving safety and ease of use.

[0172] It is understandable that a vehicle's camera may malfunction in a tunnel, but the method provided in this application can be used to switch to a stored tunnel speed limit value. By avoiding misjudgments, this not only improves the vehicle's driving safety but also compensates for the shortcomings of speed limit recognition.

[0173] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0174] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0175] In one exemplary embodiment, such as Figure 7 As shown, a vehicle control device is provided, including: an acquisition module 702, a determination module 704, a filtering module 706, an analysis module 708, and a control module 710, wherein:

[0176] The acquisition module 702 is used to acquire preset speed limit information corresponding to multiple different road locations; the determination module 704 is used to determine the first driving position of the vehicle on the first road and the road speed limit of the second road after the vehicle on the first road when the vehicle is driving on the first road; the filtering module 706 is used to filter target positions that match the first driving position from each of the road locations; the analysis module 708 is used to obtain the target speed based on the difference between the first preset speed limit and the road speed limit when the preset speed limit information corresponding to the target position exists; and the control module 710 is used to control the vehicle to drive on the second road at the target speed.

[0177] In one embodiment, the determining module 704 is further configured to determine the confidence level of the road speed limit; the analyzing module 708 is further configured to: obtain the target speed based on the difference between the first preset speed limit and the road speed limit, and the confidence level.

[0178] In one embodiment, the analysis module 708 is further configured to: obtain the target speed based on the confidence level if there is no first preset speed limit in the preset speed limit information corresponding to the target position.

[0179] In one embodiment, the analysis module 708 is further configured to perform any of the following: First, when the first preset speed limit is inconsistent with the road speed limit and the confidence level is greater than or equal to a confidence level threshold, control the vehicle touchscreen to display speed confirmation information, the speed confirmation information including the road speed limit; and when the vehicle touchscreen receives a confirmation command for the road speed limit within a first preset time period, determine the road speed limit as the target speed; Second, when the first preset speed limit is inconsistent with the road speed limit and the confidence level is less than a confidence level threshold, determine the first preset speed limit as the target speed.

[0180] In one embodiment, the analysis module 708 is further configured to: determine the road speed limit as the target speed when the confidence level is greater than or equal to the confidence level threshold; and determine the set speed received within a second preset time period as the target speed when the confidence level is less than the confidence level threshold.

[0181] In one embodiment, the determining module 704 is further configured to: determine the state score of the sensor corresponding to the road speed limit; obtain a consistency score of the road speed limit relative to the map based on the difference between the road speed limit and the vehicle speed limit matching the second road in the map; determine a target recognition score corresponding to the road speed limit based on the number of times multiple candidate vehicles are recognized for the road speed limit; and determine the confidence level of the road speed limit based on the state score, the consistency score, and the target recognition score.

[0182] In one embodiment, the control module 710 is further configured to: determine the speed adjustment mode corresponding to the vehicle; when the speed adjustment mode is a manual confirmation mode, control the vehicle touch screen to display first control confirmation information, the first control confirmation information including the target speed; and when the vehicle touch screen receives a confirmation command for the target speed within a second preset time period, control the vehicle to travel on the second road at the target speed.

[0183] In one embodiment, the road location includes a road starting location; the filtering module 706 is further configured to filter a target initial location that matches the second road from each of the road starting locations; the analysis module 708 is further configured to obtain a target speed based on the difference between the first preset speed limit and the road speed limit when the distance between the target initial location and the first driving location is less than or equal to a first preset distance.

[0184] In one embodiment, the road position further includes the road end position corresponding to the road start position; after controlling the vehicle to travel on the second road at the target speed, the acquisition module 702 is further configured to acquire the second driving position of the vehicle; the control module 710 is further configured to control the vehicle to travel at the driving speed before entering the second road when the distance between the second driving position and the road end position corresponding to the target start position is greater than or equal to a second preset distance.

[0185] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0186] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data used in the vehicle control process. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

[0187] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0188] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0189] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0190] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0191] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0192] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0193] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0194] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain preset speed limit information corresponding to multiple different road locations; While the vehicle is traveling on the first road, determine the first driving position of the vehicle on the first road and the speed limit of the second road after the first road; From the various road locations, select a target location that matches the first driving location; If a first preset speed limit exists in the preset speed limit information corresponding to the target location, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit; Control the vehicle to travel on the second road at the target speed.

2. The method according to claim 1, characterized in that, The method further includes: Determine the confidence level of the speed limit on the road; The step of obtaining the target speed based on the difference between the first preset speed limit and the road speed limit includes: The target speed is obtained based on the difference between the first preset speed limit and the road speed limit, and the confidence level.

3. The method according to claim 2, characterized in that, The method further includes: If the first preset speed limit is not present in the preset speed limit information corresponding to the target location, the target speed is obtained based on the confidence level.

4. The method according to claim 2, characterized in that, The determination of the target speed based on the difference between the first preset speed limit and the road speed limit, and the confidence level, includes any one of the following: First item: If the first preset speed limit is inconsistent with the road speed limit, and the confidence level is greater than or equal to the confidence level threshold, the vehicle touch screen is controlled to display speed confirmation information, which includes the road speed limit. If a confirmation command for the road speed limit is received by the vehicle touchscreen within a first preset time period, the road speed limit is determined as the target speed. Second item: If the first preset speed limit is inconsistent with the road speed limit, and the confidence level is less than the confidence level threshold, the first preset speed limit is determined as the target speed.

5. The method according to claim 3, characterized in that, The process of obtaining the target speed based on the confidence level includes: If the confidence level is greater than or equal to the confidence level threshold, the road speed limit is determined as the target speed; If the confidence level is less than the confidence threshold, the set speed received by the vehicle touch screen within the second preset time period is determined as the target speed.

6. The method according to claim 2, characterized in that, The determination of the confidence level for the road speed limit includes: Determine the status score of the sensor corresponding to the road speed limit; Based on the difference between the speed limit on the road and the vehicle speed limit on the map that matches the second road, a consistency score of the speed limit on the road relative to the map is obtained. Based on the number of times multiple candidate vehicles are identified for the road speed limit, a target recognition score corresponding to the road speed limit is determined; The confidence level of the road speed limit is determined based on the state score, the consistency score, and the target recognition score.

7. The method according to claim 1, characterized in that, Controlling the vehicle to travel at the target speed on the second road includes: Determine the speed control mode corresponding to the vehicle; When the speed adjustment mode is in manual confirmation mode, the vehicle touch screen displays first control confirmation information, which includes the target speed. If, within a second preset time period, the vehicle receives a confirmation command for the target speed via the in-vehicle touchscreen, the vehicle is controlled to travel at the target speed on the second road.

8. The method according to any one of claims 1 to 7, characterized in that, The road location includes the road starting position; obtaining the target speed based on the difference between the first preset speed limit and the road speed limit includes: From the starting positions of each road, select the target initial position that matches the second road; If the distance between the initial target position and the first driving position is less than or equal to the first preset distance, the target speed is obtained based on the difference between the first preset speed limit and the road speed limit.

9. The method according to claim 8, characterized in that, The road location also includes the road end location corresponding to the road start location; after controlling the vehicle to travel on the second road at the target speed, the method further includes: Obtain the second driving position of the vehicle; If the distance between the second driving position and the road end position corresponding to the target initial position is greater than or equal to the second preset distance, the vehicle is controlled to drive at the speed before entering the second road.

10. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire preset speed limit information corresponding to multiple different road locations; The determination module is used to determine the first driving position of the vehicle on the first road and the road speed limit of the vehicle on the second road after the first road while the vehicle is driving on the first road. The filtering module is used to filter target locations that match the first driving location from each of the road locations; The analysis module is used to obtain the target speed based on the difference between the first preset speed limit and the road speed limit when a first preset speed limit exists in the preset speed limit information corresponding to the target location. A control module is used to control the vehicle to travel on the second road at the target speed.

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