Vehicle reversing speed limit control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle reversing speed limit control method and device, electronic equipment and a storage medium, and relates to the field of vehicle control, and the method comprises the following steps: S1, obtaining vehicle accumulated driving mileage data; determining the familiarity of the driver to the vehicle condition according to the accumulated driving mileage data, and determining the level of the familiarity; s2, detecting the distance between the front and the rear of the vehicle and an obstacle in real time through a radar, and collecting the current vehicle speed of the vehicle during reversing in real time through a speed sensor; s3, according to the determined familiarity level, matching a speed limit threshold value under the level, including matching a corresponding set speed limit threshold value under the condition of the distance between the front and the rear of the detection vehicle and the obstacle; s4, the collected current vehicle speed is compared with the speed limiting threshold value matched in the step S3, if the current vehicle speed is larger than the speed limiting threshold value, speed limiting control is triggered, and the vehicle speed is restrained from exceeding the speed limiting threshold value; and if the current vehicle speed is smaller than or equal to the speed limiting threshold value, speed limiting control is not triggered.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a vehicle reverse speed limiting control method, a vehicle reverse speed limiting control method system, an electronic device, a storage medium and a vehicle. BACKGROUND

[0002] In daily use of a vehicle, a garage, a parking lot, a parking space and the like are high-frequency scenarios for low-speed driving and parking of the vehicle. In such scenarios, there are often other parked vehicles, walls, pillars, pedestrians and the like as obstacles. Due to the relatively narrow space in such scenarios, when a driver operates the vehicle (especially reverses or starts at low speed), the driver is prone to inaccurate perception of a safe distance between the vehicle and the obstacle due to insufficient driving experience (for example, a novice driver has weak control ability for the size of the vehicle and the steering range), limited observation angle (there is a blind area of the vehicle body) or deviation in judgment of the distance to the obstacle, thereby causing a collision safety hazard.

[0003] To cope with the safety risks in the above scenarios, an obstacle detection scheme based on a radar has appeared in the prior art. Such a scheme detects the distance between the vehicle and the surrounding obstacles in real time through a radar (such as an ultrasonic radar, a millimeter wave radar and the like), and can feed back the distance information to the driver in the form of an instrument display, a sound prompt and the like to assist the driver to know the surrounding obstacle situation.

[0004] However, the prior art only realizes the function of "obstacle distance detection and information feedback", and does not develop a corresponding speed limiting strategy for the detected obstacle distance, that is, lacks technical means for dynamically adjusting or forcibly limiting the driving speed of the vehicle according to the obstacle distance. This technical defect leads to the fact that even if the radar has detected that the distance between the vehicle and the obstacle is too close and has issued a reminder to the driver, if the driver makes a misoperation (such as mispressing the accelerator or improper control of the vehicle speed), the vehicle may still approach the obstacle at a too high speed, and it is difficult to avoid a collision accident relying only on subsequent braking operation of the driver; especially for drivers with insufficient driving experience, the collision risk caused by "known close distance but out-of-control speed" is more prominent. The prior art cannot fundamentally avoid the low-speed scenario collision problem caused by misoperation of the driver, and the driving safety of the vehicle in such scenarios still needs to be improved. SUMMARY

[0005] The purpose of the present application is to provide a vehicle reverse speed limiting control method, a vehicle reverse speed limiting control method system, an electronic device, a storage medium and a vehicle, which at least solve one of the technical problems.

[0006] 1. The problem of unreasonable application of the prior art: the prior art can only detect the distance of obstacles around the vehicle in real time through radar to realize the "obstacle existence and distance perception" function, but lacks technical means to dynamically limit the driving speed of the vehicle according to the detected obstacle distance, and cannot fundamentally avoid the situation of "known small distance but collision caused by improper operation of the driver (such as mispressing the accelerator, speed control failure)".

[0007] 2. The problem of scenario-based driving safety risk: when a vehicle is parked, started or reversed in a closed / semi-closed low-speed scenario such as a garage, parking lot or parking space, the driver is prone to misjudge the safe distance between the vehicle and the obstacle due to insufficient driving experience (such as unfamiliarity with the vehicle condition), resulting in inaccurate control of the safe distance between the vehicle and the obstacle, and a potential risk of collision with the obstacle, especially during the reversing process.

[0008] The present application provides the following solutions:

[0009] According to a first aspect of the present application, a vehicle reversing speed limiting control method is provided, comprising:

[0010] Step S1: obtaining vehicle cumulative driving mileage data;

[0011] determining the familiarity of the driver with the vehicle condition according to the cumulative driving mileage data, and determining the familiarity level;

[0012] Step S2: detecting the distance between the vehicle and obstacles in front and behind the vehicle in real time through radar, and collecting the current speed of the vehicle during reversing through a speed sensor;

[0013] Step S3: matching the speed limiting threshold value at the level according to the familiarity level determined in step S1, including matching the speed limiting threshold value set corresponding to the distance between the vehicle and obstacles in front and behind the vehicle detected in step S2;

[0014] Step S4: comparing the current speed collected in step S2 with the speed limiting threshold value matched in step S3:

[0015] If the current speed is greater than the speed limiting threshold value, triggering speed limiting control, including inhibiting the vehicle speed from exceeding the speed limiting threshold value;

[0016] If the current speed is less than or equal to the speed limiting threshold value, not triggering speed limiting control;

[0017] Step S5: triggering corresponding auxiliary reminders according to the obstacle distance detected in step S2:

[0018] presetting warning distance intervals, automatic parking prompt intervals and stopping distances, and corresponding human-computer interaction type of prompt;

[0019] When the distance between the vehicle and the obstacle is detected to be in the preset warning distance interval, a warning type prompt is outputted;

[0020] When the distance between the vehicle and the obstacle is detected to be in the preset automatic parking prompt interval, a warning type prompt and an inquiry type prompt whether to take over the vehicle for automatic parking are outputted;

[0021] When the distance between the vehicle and the obstacle is detected to be less than the preset stopping distance, the vehicle is controlled to stop and an alarm type prompt is outputted.

[0022] Further, the determination of the familiarity level comprises:

[0023] If the cumulative driving mileage of the vehicle is less than 3000 kilometers, the familiarity level is determined to be the first familiarity level;

[0024] If 3000 kilometers is less than the cumulative driving mileage of the vehicle and the cumulative driving mileage of the vehicle is less than 10000 kilometers, the familiarity level is determined to be the second familiarity level;

[0025] If the cumulative driving mileage of the vehicle is greater than 10000 kilometers, the familiarity level is determined to be the third familiarity level;

[0026] According to the increase of the familiarity level, the increase of the proficiency level is determined.

[0027] Further, the matching of the speed threshold value under the familiarity level comprises:

[0028] When the distance between the vehicle and the obstacle is detected to be 150cm < obstacle distance < 200cm, the corresponding speed threshold value is 8km / h;

[0029] When the distance between the vehicle and the obstacle is detected to be 100cm < obstacle distance < 150cm, the corresponding speed threshold value is 6km / h;

[0030] When the distance between the vehicle and the obstacle is detected to be 50cm < obstacle distance < 100cm, the corresponding speed threshold value is 4km / h;

[0031] When the distance between the vehicle and the obstacle is detected to be 20cm < obstacle distance < 50cm, the corresponding speed threshold value is 2km / h;

[0032] When the distance between the vehicle and the obstacle is detected to be 10cm < obstacle distance < 20cm, the corresponding speed threshold value is 1km / h.

[0033] Further, the matching of the speed threshold value under the familiarity level also comprises:

[0034] When the distance between the vehicle and the obstacle is detected to be 150cm < obstacle distance < 200cm, the corresponding speed threshold value is 12km / h;

[0035] When the distance between the vehicle and the obstacle is detected to be 100cm < obstacle distance < 150cm, the corresponding speed limit threshold is 8km / h;

[0036] When the distance between the vehicle and the obstacle is detected to be 50cm < obstacle distance < 100cm, the corresponding speed limit threshold is 6km / h;

[0037] When the distance between the vehicle and the obstacle is detected to be 20cm < obstacle distance < 50cm, the corresponding speed limit threshold is 4km / h;

[0038] When the distance between the vehicle and the obstacle is detected to be 10cm < obstacle distance < 20cm, the corresponding speed limit threshold is 2km / h.

[0039] Further, the speed limit threshold corresponding to the familiarity level further comprises a third familiarity level:

[0040] When the distance between the vehicle and the obstacle is detected to be 150cm < obstacle distance < 200cm, the corresponding speed limit threshold is 16km / h;

[0041] When the distance between the vehicle and the obstacle is detected to be 100cm < obstacle distance < 150cm, the corresponding speed limit threshold is 12km / h;

[0042] When the distance between the vehicle and the obstacle is detected to be 50cm < obstacle distance < 100cm, the corresponding speed limit threshold is 8km / h;

[0043] When the distance between the vehicle and the obstacle is detected to be 20cm < obstacle distance < 50cm, the corresponding speed limit threshold is 6km / h;

[0044] When the distance between the vehicle and the obstacle is detected to be 10cm < obstacle distance < 20cm, the corresponding speed limit threshold is 4km / h.

[0045] Further, the preset warning distance interval, the automatic parking prompting interval and the stopping distance comprise:

[0046] The preset warning distance interval comprises: 50cm < obstacle distance < 100cm, corresponding to a first familiarity level; 10cm < obstacle distance < 20cm, corresponding to a second familiarity level; and 5cm < obstacle distance < 10cm, corresponding to a third familiarity level;

[0047] The preset automatic parking prompting interval comprises: 20cm < obstacle distance < 50cm, corresponding to a first familiarity level; and 10cm < obstacle distance < 20cm, corresponding to a second familiarity level;

[0048] The preset stopping distance comprises: an obstacle distance < 10 cm, corresponding to a first familiarity level; and an obstacle distance < 5 cm, corresponding to the first familiarity level.

[0049] According to a second aspect of the present application, a vehicle reverse speed limiting control device is provided, comprising:

[0050] a data acquisition module configured to acquire cumulative driving mileage data of the vehicle;

[0051] determine a familiarity level of the driver to the vehicle condition according to the cumulative driving mileage data, and determine a familiarity level;

[0052] an environment detection module configured to detect distances between the vehicle and obstacles in front and rear of the vehicle in real time through a radar, and collect a current vehicle speed during vehicle reverse driving in real time through a speed sensor;

[0053] a speed limiting matching module configured to match a speed limiting threshold corresponding to the familiarity level according to the familiarity level determined by the environment detection module, including matching a speed limiting threshold corresponding to the distance between the vehicle and the obstacles in front and rear of the vehicle detected by the environment detection module;

[0054] a speed control module configured to compare the current vehicle speed collected by the environment detection module with the speed limiting threshold matched by the speed limiting matching module;

[0055] if the current vehicle speed is greater than the speed limiting threshold, triggering a speed limiting control, including inhibiting the vehicle speed from exceeding the speed limiting threshold;

[0056] if the current vehicle speed is less than or equal to the speed limiting threshold, not triggering the speed limiting control;

[0057] a man-machine warning module configured to trigger a corresponding auxiliary reminder according to the obstacle distance detected by the environment detection module;

[0058] preset warning distance intervals, automatic parking prompting intervals and stopping distances, and corresponding man-machine interaction type of prompting;

[0059] when the distance between the vehicle and the obstacles is detected to be in the preset warning distance interval, outputting a warning type of prompt;

[0060] when the distance between the vehicle and the obstacles is detected to be in the preset automatic parking prompting interval, outputting a warning type of reminder and a query type of prompt whether to take over the vehicle for automatic parking;

[0061] when the distance between the vehicle and the obstacles is detected to be less than the preset stopping distance, immediately controlling the vehicle to stop and outputting an alarm type of prompt.

[0062] According to a third aspect of the present application, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus.

[0063] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the vehicle reversing speed limit control method.

[0064] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program executable by an electronic device, which, when executed on the electronic device, causes the electronic device to perform the steps of the vehicle reversing speed limit control method.

[0065] According to a fifth aspect of the present application, a vehicle is provided, comprising:

[0066] An electronic device for implementing the steps of the vehicle reversing speed limit control method;

[0067] A processor for running a program, which, when executed, performs the steps of the vehicle reversing speed limit control method on data output from the electronic device;

[0068] A storage medium for storing a program, which, when executed, performs the steps of the vehicle reversing speed limit control method on data output from the electronic device.

[0069] Through the above scheme, the following beneficial technical effects are obtained:

[0070] The present application sets corresponding speed limit thresholds by "radar obstacle detection distance + driving mileage classification" in two dimensions, and triggers the speed limit control module to forcibly reduce the vehicle speed to a safe threshold when the current vehicle speed exceeds the threshold, thereby avoiding the problem of high-speed approach to obstacles caused by driver misoperation, directly reducing the collision probability, and avoiding the risk of operation errors through dynamic speed limit.

[0071] The present application divides the cumulative driving mileage of the vehicle into three levels, and matches different speed limit thresholds for different levels, which not only meets the high safety protection needs of novice drivers, but also does not affect the normal operation efficiency of skilled drivers, thereby adapting to different driving experience and improving the targeting of speed limit.

[0072] The present application triggers corresponding reminders for different obstacle distance intervals, directly controls the vehicle to stop and issues an alarm at a very close distance, and forms a multi-layer safety protection of "speed limit control + reminder + emergency stop", thereby further improving the safety of the driver when reversing and operating at low speed. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1is a flow chart of a vehicle reversing speed limit control method provided by one or more embodiments of the present application.

[0074] Figure 2 is a structural diagram of a vehicle reversing speed limit control method device provided by one or more embodiments of the present application.

[0075] Figure 3 is an electronic device structural block diagram of a vehicle reversing speed limit control method provided by one or more embodiments of the present application. DETAILED DESCRIPTION

[0076] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0077] Figure 1 is a flow chart of a vehicle reversing speed limit control method provided by one or more embodiments of the present application.

[0078] As shown in 1, a vehicle reversing speed limit control method, the vehicle reversing speed limit control method comprises: Figure 1

[0079] Step S1: obtaining vehicle cumulative driving mileage data;

[0080] determining the familiarity of the driver to the vehicle condition according to the cumulative driving mileage data, and determining the familiarity level;

[0081] Step S2: detecting the distance between the front and rear of the vehicle and the obstacles in real time through radar, and collecting the current vehicle speed during vehicle reversing in real time through a speed sensor;

[0082] Step S3: matching the speed limit threshold value under the familiarity level determined in step S1, including matching the speed limit threshold value set corresponding to the distance between the front and rear of the vehicle and the obstacles detected in step S2;

[0083] Step S4: comparing the current vehicle speed collected in step S2 with the speed limit threshold value matched in step S3:

[0084] If the current vehicle speed is greater than the speed limit threshold value, triggering speed limit control, including inhibiting the vehicle speed from exceeding the speed limit threshold value;

[0085] If the current vehicle speed is less than or equal to the speed limit threshold value, not triggering speed limit control;

[0086] Step S5: triggering corresponding auxiliary reminders according to the obstacle distance detected in step S2: ​

[0087] preset warning distance interval, automatic parking prompting interval and stopping distance, and the corresponding man-machine interaction form of prompt type;

[0088] When the distance between the vehicle and the obstacle is detected to be in the preset warning distance interval, a warning type prompt is outputted;

[0089] When the distance between the vehicle and the obstacle is detected to be in the preset automatic parking prompting interval, a warning type prompt and an inquiry type prompt of whether to take over the vehicle for automatic parking are outputted;

[0090] When the distance between the vehicle and the obstacle is detected to be less than the preset stopping distance, the vehicle is immediately controlled to stop and an alarm type prompt is outputted.

[0091] In the embodiment, determining the familiarity level includes:

[0092] If the cumulative driving mileage of the vehicle is less than 3000 kilometers, the familiarity level is determined to be the first familiarity level;

[0093] If 3000 kilometers < the cumulative driving mileage of the vehicle < 10000 kilometers, the familiarity level is determined to be the second familiarity level;

[0094] If the cumulative driving mileage of the vehicle is greater than 10000 kilometers, the familiarity level is determined to be the third familiarity level;

[0095] According to the increase of the familiarity level, the increase of the proficiency level is determined.

[0096] In the embodiment, matching the familiarity level lower speed threshold value includes:

[0097] When the distance between the vehicle and the obstacle is detected to be 150cm < the obstacle distance < 200cm, the corresponding lower speed threshold value is 8km / h;

[0098] When the distance between the vehicle and the obstacle is detected to be 100cm < the obstacle distance < 150cm, the corresponding lower speed threshold value is 6km / h;

[0099] When the distance between the vehicle and the obstacle is detected to be 50cm < the obstacle distance < 100cm, the corresponding lower speed threshold value is 4km / h;

[0100] When the distance between the vehicle and the obstacle is detected to be 20cm < the obstacle distance < 50cm, the corresponding lower speed threshold value is 2km / h;

[0101] When the distance between the vehicle and the obstacle is detected to be 10cm < the obstacle distance < 20cm, the corresponding lower speed threshold value is 1km / h.

[0102] In the embodiment, the matching the familiar level lower speed threshold further comprises: the second familiar level lower speed threshold is 8km / h;

[0103] When the distance between the vehicle and the obstacle is detected as 100cm < obstacle distance < 150cm, the corresponding speed threshold is 8km / h;

[0104] When the distance between the vehicle and the obstacle is detected as 100cm < obstacle distance < 150cm, the corresponding speed threshold is 8km / h;

[0105] When the distance between the vehicle and the obstacle is detected as 50cm < obstacle distance < 100cm, the corresponding speed threshold is 6km / h;

[0106] When the distance between the vehicle and the obstacle is detected as 20cm < obstacle distance < 50cm, the corresponding speed threshold is 4km / h;

[0107] When the distance between the vehicle and the obstacle is detected as 10cm < obstacle distance < 20cm, the corresponding speed threshold is 2km / h.

[0108] In the embodiment, the matching the familiar level lower speed threshold further comprises: the second familiar level lower speed threshold is 8km / h;

[0109] When the distance between the vehicle and the obstacle is detected as 150cm < obstacle distance < 200cm, the corresponding speed threshold is 16km / h;

[0110] When the distance between the vehicle and the obstacle is detected as 100cm < obstacle distance < 150cm, the corresponding speed threshold is 12km / h;

[0111] When the distance between the vehicle and the obstacle is detected as 50cm < obstacle distance < 100cm, the corresponding speed threshold is 8km / h;

[0112] When the distance between the vehicle and the obstacle is detected as 20cm < obstacle distance < 50cm, the corresponding speed threshold is 6km / h;

[0113] When the distance between the vehicle and the obstacle is detected as 10cm < obstacle distance < 20cm, the corresponding speed threshold is 4km / h.

[0114] In the embodiment, the preset warning distance interval, the automatic parking prompting interval and the stopping distance comprise:

[0115] The preset warning distance interval comprises: 50cm < obstacle distance < 100cm, corresponding to the first familiar level; 10cm < obstacle distance < 20cm, corresponding to the second familiar level; 5cm < obstacle distance < 10cm, corresponding to the third familiar level;

[0116] The preset automatic parking prompt interval includes: 20cm < obstacle distance < 50cm, corresponding to a first familiarity level; 10cm < obstacle distance < 20cm, corresponding to a second familiarity level.

[0117] The preset stopping distance includes: obstacle distance < 10cm, corresponding to a first familiarity level; and obstacle distance < 5cm, corresponding to a first familiarity level.

[0118] Specifically, in one specific embodiment, a strategy for controlling reversing is disclosed, which ensures safe driving of a driver during reversing:

[0119] When a vehicle is parking or starting in a garage, parking lot or parking space, if there are vehicles or other obstacles around, the driver will have certain safety hazards due to insufficient driving experience or misjudgment of observation distance. In the prior art, it is possible to solve the problem of discovering an object in front of the vehicle and to detect the distance of the surrounding obstacles in real time according to a radar, but there is a lack of a method for limiting the speed of the vehicle, so that a collision occurs due to improper operation even if the distance is too small. The speed of the vehicle can be controlled in sections according to the distance of the detected obstacles by radar.

[0120] If the driving mileage is less than 3000km, it indicates that the driver is relatively unfamiliar with the vehicle, and if the distance between the vehicle and the front or rear obstacle is less than 200cm and greater than 150cm, it is determined whether to trigger the speed limiting control module according to the speed sensor. If the current vehicle speed is less than the speed limit value of 8km / h, the speed limiting control module is not triggered, and if the vehicle speed is greater than the threshold value of the speed limiting module of 8km / h, the speed limiting control module is triggered to control the vehicle speed to be 8km / h.

[0121] If the distance between the vehicle and the front or rear obstacle is less than 150cm and greater than 100cm, it is determined whether to trigger the speed limiting control module according to the speed sensor. If the current vehicle speed is less than the speed limit value of 6km / h, the speed limiting control module is not triggered, and if the vehicle speed is greater than the threshold value of the speed limiting module of 6km / h, the speed limiting control module is triggered to control the vehicle speed to be 6km / h.

[0122] If the distance between the vehicle and the front or rear obstacle is less than 100cm and greater than 50cm, it is determined whether to trigger the speed limiting control module according to the speed sensor. If the current vehicle speed is less than the speed limit value of 4km / h, the speed limiting control module is not triggered, and if the vehicle speed is greater than the threshold value of the speed limiting module of 4km / h, the speed limiting control module is triggered to control the vehicle speed to be 4km / h, and a corresponding warning reminder is made.

[0123] If the distance to the front or rear obstacle is less than 50cm and greater than 20cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 2km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 2km / h, the speed limit control module is triggered to control the speed to be 2km / h, and a corresponding warning reminder is made, and whether to take over the vehicle for automatic parking is prompted;

[0124] If the distance to the front or rear obstacle is less than 20cm and greater than 10cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 1km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 1km / h, the speed limit control module is triggered to control the speed to be 1km / h, and a corresponding warning reminder is made, and whether to take over the vehicle for automatic parking is prompted;

[0125] If the distance to the front or rear obstacle is less than 10cm, it is directly stopped and a corresponding warning reminder is made. If the driving mileage is greater than 3000 and less than 10000 kilometers, it indicates that the driver is familiar with the vehicle condition, but in order to prevent misoperation due to other special circumstances;

[0126] If the distance to the front or rear obstacle is less than 200cm and greater than 150cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 12km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 12km / h, the speed limit control module is triggered to control the speed to be 12km / h;

[0127] If the distance to the front or rear obstacle is less than 150cm and greater than 100cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 8km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 8km / h, the speed limit control module is triggered to control the speed to be 8km / h;

[0128] If the distance to the front or rear obstacle is less than 100cm and greater than 50cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 6km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 6km / h, the speed limit control module is triggered to control the speed to be 6km / h, and a corresponding warning reminder is made;

[0129] If the distance to the front or rear obstacle is less than 50cm and greater than 20cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 4km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 4km / h, the speed limit control module is triggered to control the speed to be 4km / h, and a corresponding warning reminder is made, and whether to take over the vehicle for automatic parking is prompted;

[0130] If the distance to the front or rear obstacle is less than 20cm and greater than 10cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 2km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 2km / h, the speed limit control module is triggered to control the speed to be 2km / h, and a corresponding warning reminder is made, and whether to take over the vehicle for automatic parking is prompted;

[0131] If the distance to the front or rear obstacle is less than 10cm and greater than 5cm, the parking will not be triggered, but a corresponding warning reminder is made and whether to take over the vehicle for automatic parking is prompted;

[0132] If the distance to the front or rear obstacle is less than 5cm, the vehicle is directly stopped and a corresponding warning reminder is made;

[0133] According to the vehicle driving mileage, if it is greater than 10000km, it indicates that the driver is very familiar with the vehicle condition, but in order to prevent misoperation due to other special circumstances;

[0134] If the distance to the front or rear obstacle is less than 200cm and greater than 150cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 16km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 16km / h, the speed limit control module is triggered to control the speed to be 16km / h;

[0135] If the distance to the front or rear obstacle is less than 150cm and greater than 100cm, the speed sensor is used to determine whether to trigger the speed limit control module. If the current speed is less than the speed limit value of 12km / h, the speed limit control module will not be triggered. If the speed is greater than the threshold value of the speed limit module of 12km / h, the speed limit control module is triggered to control the speed to be 12km / h;

[0136] If the distance to the front or rear obstacle is less than 100cm and greater than 50cm, the speed sensor is used to determine whether to trigger the speed limit control module, if the current speed is less than the speed limit value 8km / h, the speed limit control module will not be triggered, if the speed is greater than the threshold value 8km / h of the speed limit module, the speed limit control module is triggered to control the speed to be 8km / h, and the corresponding warning reminder is made;

[0137] If the distance to the front or rear obstacle is less than 50cm and greater than 20cm, the speed sensor is used to determine whether to trigger the speed limit control module, if the current speed is less than the speed limit value 6km / h, the speed limit control module will not be triggered, if the speed is greater than the threshold value 6km / h of the speed limit module, the speed limit control module is triggered to control the speed to be 6km / h, the corresponding warning reminder is made, and whether to take over the vehicle for automatic parking is prompted;

[0138] If the distance to the front or rear obstacle is less than 20cm and greater than 10cm, the speed sensor is used to determine whether to trigger the speed limit control module, if the current speed is less than the speed limit value 4km / h, the speed limit control module will not be triggered, if the speed is greater than the threshold value 4km / h of the speed limit module, the speed limit control module is triggered to control the speed to be 4km / h, the corresponding warning reminder is made, and whether to take over the vehicle for automatic parking is prompted;

[0139] If the distance to the front or rear obstacle is less than 10cm, the parking will not be triggered, but the corresponding warning reminder will be made.

[0140] Figure 2 It is a structure diagram of a vehicle reverse speed limit control method and device provided by one or more embodiments of the application.

[0141] As Figure 2 The vehicle reverse speed limit control device includes a data acquisition module, an environment detection module, a speed limit matching module, a speed control module, and a man-machine warning module.

[0142] The data acquisition module is used to acquire vehicle cumulative driving mileage data.

[0143] The familiarity of the driver to the vehicle condition is determined according to the cumulative driving mileage data, and the familiarity level is determined.

[0144] The environment detection module is used to detect the distance between the vehicle and the obstacle in front of and behind the vehicle in real time through radar, and collect the current speed of the vehicle during reverse driving in real time through a speed sensor.

[0145] The speed limit matching module is used for matching a speed limit threshold according to the familiarity level determined by the environment detection module, including matching the speed limit threshold corresponding to the distance between the front and rear of the vehicle and the obstacle detected by the environment detection module.

[0146] The speed control module is used for comparing the current vehicle speed collected by the environment detection module with the speed limit threshold matched by the speed limit matching module.

[0147] If the current vehicle speed is greater than the speed limit threshold, the speed limit control is triggered, including inhibiting the vehicle speed from exceeding the speed limit threshold.

[0148] If the current vehicle speed is less than or equal to the speed limit threshold, the speed limit control is not triggered.

[0149] The man-machine warning module is used for triggering the corresponding auxiliary reminder according to the distance of the obstacle detected by the environment detection module.

[0150] The preset warning distance interval, the automatic parking prompt interval and the stopping distance, and the corresponding man-machine interaction type of the prompt are provided.

[0151] When the distance between the vehicle and the obstacle is detected to be in the preset warning distance interval, the warning type of prompt is output.

[0152] When the distance between the vehicle and the obstacle is detected to be in the preset automatic parking prompt interval, the warning type of reminder and the inquiry type of prompt whether to take over the vehicle for automatic parking are output.

[0153] When the distance between the vehicle and the obstacle is detected to be less than the preset stopping distance, the vehicle is immediately controlled to stop and the alarm type of prompt is output.

[0154] It is worth noting that, although the system / device only discloses the above-mentioned data acquisition module, environment detection module, speed limit matching module, speed control module and man-machine warning module, it does not mean that the system / device is limited to the above-mentioned basic function modules. On the contrary, the meaning expressed by the present application is that on the basis of the above-mentioned basic function modules, the person skilled in the art can add one or more function modules to form infinite embodiments or technical solutions in combination with the prior art. That is to say, the system is open rather than closed, and it cannot be considered that the protection scope of the present application is limited to the above-mentioned basic function modules only because the present embodiment discloses individual basic function modules.

[0155] Figure 3 is an electronic device structure block diagram of the vehicle reverse speed limit control method provided by one or more embodiments of the present application.

[0156] As Figure 3As shown, the present application provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus.

[0157] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the vehicle reversing speed limiting control method.

[0158] The present application also provides a computer readable storage medium storing a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the vehicle reversing speed limiting control method.

[0159] The present application also provides a test platform, comprising:

[0160] The electronic device is used to implement the steps of the vehicle reversing speed limiting control method.

[0161] The processor runs a program, and when the program runs, the steps of the vehicle reversing speed limiting control method are executed on the data output from the electronic device.

[0162] The storage medium is used to store a program, and when the program runs, the steps of the vehicle reversing speed limiting control method are executed on the data output from the electronic device.

[0163] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0164] The electronic device comprises a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system. The hardware layer comprises central processing unit (CPU), memory management unit (MMU) and memory, etc. The operating system can be any one or more computer operating systems that realize the control of the electronic device through processes, such as Linux operating system, Unix operating system, Android operating system, iOS operating system or windows operating system, etc. In the embodiments of the present application, the electronic device can be a handheld device such as a smart phone or a tablet computer, or can be a desktop computer, a portable computer, etc. The electronic device is not particularly limited in the embodiments of the present application.

[0165] The execution subject of the electronic device control in the embodiment of the present application can be an electronic device, or a functional module in the electronic device capable of invoking and executing a program. The electronic device can acquire firmware corresponding to the storage medium, the firmware corresponding to the storage medium is provided by a supplier, and the firmware corresponding to different storage media can be the same or different, which is not limited herein. After the electronic device acquires the firmware corresponding to the storage medium, the electronic device can write the firmware corresponding to the storage medium into the storage medium, specifically, burn the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented by using the prior art, which is not described herein in the embodiment of the present application.

[0166] The electronic device can also acquire a reset command corresponding to the storage medium, the reset command corresponding to the storage medium is provided by a supplier, and the reset command corresponding to different storage media can be the same or different, which is not limited herein.

[0167] At this time, the storage medium of the electronic device is the storage medium in which the corresponding firmware is written, and the electronic device can respond to the reset command corresponding to the storage medium in the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by using the prior art, which is not described herein in the embodiment of the present application.

[0168] For the convenience of description, the above apparatus is described as various units and modules in terms of functions. Of course, the functions of the units and modules can be implemented in one or more software and / or hardware in the implementation of the present application.

[0169] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that, terms such as those defined in general dictionaries should be understood as having meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0170] For the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the action order described, because according to the embodiments of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0171] Those skilled in the art can clearly understand the application by the description of the above embodiments that the application can be implemented by means of software and the necessary universal hardware platform. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, and the like) execute the methods described in each of the embodiments or some parts of the embodiments of the application.

[0172] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A vehicle reverse speed limiting control method characterized by, The vehicle reverse speed control method comprises: Step S1: obtaining vehicle cumulative driving mileage data; According to the cumulative driving mileage data, the familiarity of the driver with the vehicle condition is determined, and the familiarity level is determined; Step S2: real-time detection of the distance between the front and rear of the vehicle and the obstacle by radar, and real-time acquisition of the current vehicle speed during vehicle reversing by a speed sensor; Step S3: according to the familiarity level determined in step S1, the speed threshold value corresponding to the level is matched, including matching the speed threshold value set corresponding to the distance between the front and rear of the vehicle and the obstacle detected in step S2; Step S4: comparing the current vehicle speed acquired in step S2 with the speed threshold value matched in step S3: If the current vehicle speed is greater than the speed threshold value, the speed control is triggered, including inhibiting the vehicle speed from exceeding the speed threshold value; If the current vehicle speed is less than or equal to the speed threshold value, the speed control is not triggered; Step S5: according to the distance of the obstacle detected in step S2, the corresponding auxiliary reminder is triggered: The preset warning distance interval, automatic parking prompt interval and stopping distance, and the corresponding human-computer interaction type of prompt are matched; When the distance between the vehicle and the obstacle is detected to be in the preset warning distance interval, a warning type of prompt is outputted; When the distance between the vehicle and the obstacle is detected to be in the preset automatic parking prompt interval, a warning type of reminder and an inquiry type of prompt whether to take over the vehicle for automatic parking are outputted; When the distance between the vehicle and the obstacle is detected to be less than the preset stopping distance, the vehicle is immediately stopped and an alarm type of prompt is outputted.

2. The vehicle reverse speed limiting control method according to claim 1, characterized by, The determination of the familiarity level comprises: If the cumulative driving mileage of the vehicle is less than 3000 kilometers, the familiarity level is determined to be the first familiarity level; If 3000 kilometers is less than the cumulative driving mileage of the vehicle and the cumulative driving mileage of the vehicle is less than 10000 kilometers, the familiarity level is determined to be the second familiarity level; If the cumulative driving mileage of the vehicle is greater than 10000 kilometers, the familiarity level is determined to be the third familiarity level; According to the increase of the familiarity level, the increase of the proficiency level is determined.

3. The vehicle backup speed limiting control method of claim 1, wherein Matching the speed threshold value corresponding to the familiarity level comprises: When the distance between the vehicle and the obstacle is detected to be 150cm < obstacle distance < 200cm, the corresponding speed threshold value is 8km / h; When the distance between the vehicle and the obstacle is detected to be 100cm < obstacle distance < 150cm, the corresponding speed threshold value is 6km / h; When the distance between the vehicle and the obstacle is detected to be 50cm < obstacle distance < 100cm, the corresponding speed threshold value is 4km / h; When the distance between the vehicle and the obstacle is detected to be 20cm < obstacle distance < 50cm, the corresponding speed threshold value is 2km / h; When the distance between the vehicle and the obstacle is detected to be 10cm < obstacle distance < 20cm, the corresponding speed threshold value is 1km / h.

4. The vehicle backup speed limiting control method of claim 1, wherein Matching the speed threshold value corresponding to the familiarity level further comprises: When the distance between the vehicle and the obstacle is detected to be 150cm < obstacle distance < 200cm, the corresponding speed threshold value is 12km / h; When the distance between the vehicle and the obstacle is detected to be 100cm < obstacle distance < 150cm, the corresponding speed threshold value is 8km / h; When the distance between the vehicle and the obstacle is detected to be 50cm < obstacle distance < 100cm, the corresponding speed limit threshold is 6km / h; When the distance between the vehicle and the obstacle is detected to be 20cm < obstacle distance < 50cm, the corresponding speed limit threshold is 4km / h; When the distance between the vehicle and the obstacle is detected to be 10cm < obstacle distance < 20cm, the corresponding speed limit threshold is 2km / h.

5. The vehicle backup speed limiting control method of claim 1, wherein The matching of the speed limit threshold under the familiarity level further comprises a third familiarity level: When the distance between the vehicle and the obstacle is detected to be 150cm < obstacle distance < 200cm, the corresponding speed limit threshold is 16km / h; When the distance between the vehicle and the obstacle is detected to be 100cm < obstacle distance < 150cm, the corresponding speed limit threshold is 12km / h; When the distance between the vehicle and the obstacle is detected to be 50cm < obstacle distance < 100cm, the corresponding speed limit threshold is 8km / h; When the distance between the vehicle and the obstacle is detected to be 20cm < obstacle distance < 50cm, the corresponding speed limit threshold is 6km / h; When the distance between the vehicle and the obstacle is detected to be 10cm < obstacle distance < 20cm, the corresponding speed limit threshold is 4km / h.

6. The vehicle backup speed limiting control method of claim 1, wherein The preset warning distance interval, the automatic parking prompt interval and the stopping distance comprise: The preset warning distance interval comprises: 50cm < obstacle distance < 100cm, corresponding to a first familiarity level; 10cm < obstacle distance < 20cm, corresponding to a second familiarity level; and 5cm < obstacle distance < 10cm, corresponding to a third familiarity level; The preset automatic parking prompt interval comprises: 20cm < obstacle distance < 50cm, corresponding to the first familiarity level; and 10cm < obstacle distance < 20cm, corresponding to the second familiarity level; The preset stopping distance comprises: obstacle distance < 10cm, corresponding to the first familiarity level; and obstacle distance < 5cm, corresponding to the first familiarity level.

7. A vehicle reversing speed limiting control device characterized by comprising: The vehicle reverse speed limit control device comprises: a data acquisition module configured to acquire cumulative driving mileage data of the vehicle; determine the familiarity degree of the driver to the vehicle condition according to the cumulative driving mileage data, and determine a familiarity level; an environment detection module configured to detect the distance between the vehicle and an obstacle in front of and behind the vehicle in real time through a radar, and collect the current speed of the vehicle when the vehicle is reversing in real time through a speed sensor; a speed limit matching module configured to match a speed limit threshold under the familiarity level determined by the environment detection module, including matching the speed limit threshold corresponding to the distance between the vehicle and the obstacle in front of and behind the vehicle detected by the environment detection module; a speed control module configured to compare the current speed collected by the environment detection module with the speed limit threshold matched by the speed limit matching module: if the current speed is greater than the speed limit threshold, trigger the speed limit control, including inhibiting the vehicle speed from exceeding the speed limit threshold; if the current speed is less than or equal to the speed limit threshold, do not trigger the speed limit control; a man-machine warning module configured to trigger corresponding auxiliary reminders according to the distance between the vehicle and the obstacle detected by the environment detection module: preset warning distance intervals, automatic parking prompt intervals and stopping distances, and corresponding man-machine interaction type of prompt; When the distance between the vehicle and the obstacle is detected to be in a preset warning distance interval, a warning type prompt is outputted; When the distance between the vehicle and the obstacle is detected to be in a preset automatic parking prompt interval, a warning type prompt and an inquiry type prompt about whether to take over the vehicle for automatic parking are outputted; When the distance between the vehicle and the obstacle is detected to be less than a preset stopping distance, the vehicle is immediately stopped and an alarm type prompt is outputted.

8. An electronic device, comprising: The vehicle reverse speed limiting control method comprises the following steps: A processor, a communication interface, a memory and a communication bus are included, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the vehicle reverse speed limiting control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The memory stores a computer program executable by the electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the vehicle reverse speed limiting control method according to any one of claims 1 to 6.

10. A vehicle characterized by comprising: The electronic device is used to execute the steps of the vehicle reverse speed limiting control method according to any one of claims 1 to 6; The processor runs the program, and when the program runs, the data outputted from the electronic device executes the steps of the vehicle reverse speed limiting control method according to any one of claims 1 to 6; The storage medium is used to store the program, and when the program runs, the data outputted from the electronic device executes the steps of the vehicle reverse speed limiting control method according to any one of claims 1 to 6. ​

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