Vehicle speed limit early warning method, device and equipment and storage medium

Abstract

The invention belongs to the technical field of automobiles, and discloses a vehicle speed limit early warning method, device and equipment and a storage medium. The road information and the weather information of the to-be-controlled vehicle at the current moment are determined, the signal condition is determined according to the road information and the weather information, then whether speed limiting early warning needs to be conducted on a driver or not is judged according to the signal condition, and if yes, the target distance between the to-be-controlled vehicle and the speed measuring area is determined; and a speed limiting condition is determined according to the signal condition, and speed limiting early warning is carried out on a driver according to the target distance, the current vehicle speed corresponding to the vehicle to be controlled and the speed limiting condition. According to the method, whether speed limit early warning needs to be carried out on the driver or not is judged according to the signal condition corresponding to the to-be-controlled vehicle, frequent speed limit early warning does not need to be carried out on the driver, and under the condition that speed limit early warning needs to be carried out on the driver, speed limit early warning is carried out on the driver in time according to the target distance, the current vehicle speed and the speed limit condition; therefore, the driving safety is improved.

Description

Vehicle speed limit warning methods, devices, equipment and storage media Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a vehicle speed limit warning method, device, equipment, and storage medium. Background Technology

[0002] Current vehicle speeding warning technologies mainly include in-car or mobile phone satellite navigation alerts and radar detectors. However, drivers generally don't turn on navigation or radar detectors in familiar areas because the alerts are too frequent, affecting the driving experience. Furthermore, even when navigation and radar detectors are on, drivers often listen to the radio or play music while driving, frequently ignoring speeding warnings. This results in speeding violations being recorded by traffic cameras, leading to fines and demerit points, thus compromising safe driving. Therefore, how to provide timely speed limit warnings to drivers and improve driving safety has become an urgent problem to be solved. Summary of the Invention

[0003] The main purpose of this application is to provide a vehicle speed limit warning method, device, equipment and storage medium, which aims to solve the technical problem of how to provide timely speed limit warnings to drivers and improve driving safety.

[0004] To achieve the above objectives, this application provides a vehicle speed limit warning method, which includes the following steps: determining the road information and weather information of the vehicle to be controlled at the current moment, and determining the signal situation based on the road information and the weather information; determining whether a speed limit warning needs to be issued to the driver based on the signal situation; if so, determining the target distance between the vehicle to be controlled and the speed measurement area, and determining the speed limit conditions based on the signal situation; and issuing a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions.

[0005] Optionally, the signal conditions include: satellite signal conditions and visual signal conditions; determining the road information and weather information of the vehicle to be controlled at the current moment, and determining the signal conditions based on the road information and the weather information, includes: determining the road information of the vehicle to be controlled at the current moment and the weather information at the current moment; determining the satellite signal conditions corresponding to the current satellite signal based on the road information; and determining the visual signal conditions corresponding to the current visual signal based on the weather information.

[0006] Optionally, determining whether a speed limit warning needs to be issued to the driver based on the signal conditions includes: determining whether the satellite signal conditions meet the requirements of normal satellite signal conditions to obtain a first determination result; determining whether the visual signal conditions meet the requirements of normal visual signal conditions to obtain a second determination result; and determining whether a speed limit warning needs to be issued to the driver based on the first determination result and the second determination result.

[0007] Optionally, determining whether a speed limit warning needs to be issued to the driver based on the first judgment result and the second judgment result includes: when the first judgment result indicates that a normal satellite signal condition is met and the second judgment result indicates that a normal visual signal condition is met, determining whether a speed limit warning needs to be issued to the driver based on the current satellite signal and the current visual signal; when the first judgment result indicates that a normal satellite signal condition is met and the second judgment result indicates that a normal visual signal condition is not met, determining whether a speed limit warning needs to be issued to the driver based on the current satellite signal; when the first judgment result indicates that a normal satellite signal condition is not met and the second judgment result indicates that a normal visual signal condition is met, determining whether a speed limit warning needs to be issued to the driver based on the current visual signal; and when the first judgment result indicates that a normal satellite signal condition is not met and the second judgment result indicates that a normal visual signal condition is not met, determining whether a speed limit warning needs to be issued to the driver through the inertial navigation system on the vehicle to be controlled.

[0008] Optionally, if yes, then determining the target distance between the vehicle to be controlled and the speed measurement area, and determining the speed limit condition based on the signal condition, includes: if yes, determining the measurement range corresponding to the radar on the vehicle to be controlled; within the measurement range, determining the target distance between the vehicle to be controlled and the speed measurement area through the radar; and determining the speed limit condition based on the first judgment result and the second judgment result.

[0009] Optionally, determining the speed limit condition based on the first judgment result and the second judgment result includes: determining the speed limit condition through a satellite system and a vision system on the vehicle to be controlled when the first judgment result indicates that a normal satellite signal condition is met and the second judgment result indicates that a normal visual signal condition is met; determining the speed limit condition through a satellite system when the first judgment result indicates that a normal satellite signal condition is met and the second judgment result indicates that a normal visual signal condition is not met; determining the speed limit condition through a vision system when the first judgment result indicates that a normal satellite signal condition is not met and the second judgment result indicates that a normal visual signal condition is met; and determining the speed limit condition through an inertial navigation system when the first judgment result indicates that a normal satellite signal condition is not met and the second judgment result indicates that a normal visual signal condition is not met.

[0010] Optionally, the step of providing a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions includes: when the target distance is less than a preset warning distance, providing a first-level warning to the driver based on the current speed of the vehicle to be controlled and the speed limit conditions; if the first-level warning fails, and the target distance is less than a preset intervention distance, then the vehicle to be controlled performs braking control to provide a second-level warning, wherein the preset intervention distance is less than the preset warning distance.

[0011] Furthermore, to achieve the above objectives, this application also provides a vehicle speed limit warning device, comprising: a signal condition determination module, used to determine the road information and weather information of the vehicle to be controlled at the current moment, and to determine the signal condition based on the road information and the weather information; a speed limit warning judgment module, used to determine whether a speed limit warning needs to be issued to the vehicle to be controlled based on the signal condition; a speed limit condition determination module, used to determine the target distance between the vehicle to be controlled and the speed measurement area when a speed limit warning needs to be issued to the vehicle to be controlled, and to determine the speed limit condition based on the signal condition; and a vehicle speed limit warning module, used to issue a speed limit warning to the vehicle to be controlled based on the target distance, the current speed of the vehicle to be controlled, and the speed limit condition.

[0012] In addition, to achieve the above objectives, this application also proposes a vehicle speed limit warning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle speed limit warning method as described above.

[0013] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the vehicle speed limit warning method described above.

[0014] This application determines the road and weather information of the vehicle to be controlled at the current moment, and determines the traffic signal situation based on the road and weather information. Then, based on the traffic signal situation, it determines whether a speed limit warning is needed for the driver. If so, it determines the target distance between the vehicle to be controlled and the speed measurement area, and determines the speed limit conditions based on the traffic signal situation. Finally, it issues a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions. This application first determines whether a speed limit warning is needed for the driver based on the traffic signal situation corresponding to the vehicle to be controlled, avoiding frequent speed limit warnings. When a speed limit warning is needed, it issues the warning based on the target distance, current speed, and speed limit conditions, thereby enabling timely speed limit warnings to the driver and improving driving safety. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 is a flowchart illustrating the first embodiment of the vehicle speed limit warning method of this application; Figure 2 is a flowchart illustrating the second embodiment of the vehicle speed limit warning method of this application; Figure 3 is a flowchart illustrating the third embodiment of the vehicle speed limit warning method of this application; Figure 4 is a structural block diagram illustrating the first embodiment of the vehicle speed limit warning device of this application; Figure 5 is a structural schematic diagram illustrating the vehicle speed limit warning device in the hardware operating environment involved in the embodiments of this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0020] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0021] The main solution of this application embodiment is as follows: determine the road information and weather information of the vehicle to be controlled at the current moment, and determine the signal situation based on the road information and the weather information; determine whether a speed limit warning needs to be issued to the driver based on the signal situation; if so, determine the target distance between the vehicle to be controlled and the speed measurement area, and determine the speed limit conditions based on the signal situation; issue a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions.

[0022] Current vehicle speeding warning technologies mainly include in-car or mobile phone satellite navigation alerts and radar detectors. However, drivers generally don't turn on navigation or radar detectors in familiar areas because the alerts from these systems are too frequent and disrupt the driving experience. Furthermore, even when navigation and radar detectors are on, drivers often listen to the radio or play music while driving, and most of the time they don't pay attention to speeding warnings, resulting in speeding violations being recorded by traffic cameras, leading to fines and demerit points, thus compromising safe driving.

[0023] This application determines the road and weather information of the vehicle to be controlled at the current moment, and determines the traffic signal situation based on the road and weather information. Then, based on the traffic signal situation, it determines whether a speed limit warning is needed for the driver. If so, it determines the target distance between the vehicle to be controlled and the speed measurement area, and determines the speed limit conditions based on the traffic signal situation. Finally, it issues a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions. This application first determines whether a speed limit warning is needed for the driver based on the traffic signal situation corresponding to the vehicle to be controlled, avoiding frequent speed limit warnings. When a speed limit warning is needed, it issues the warning based on the target distance, current speed, and speed limit conditions, thereby enabling timely speed limit warnings to the driver and improving driving safety.

[0024] It should be noted that the entity executing this application may be a vehicle controller.

[0025] Based on this, this application provides a vehicle speed limit warning method. Referring to Figure 1, Figure 1 is a flowchart of the first embodiment of the vehicle speed limit warning method of this application.

[0026] In this embodiment, the vehicle speed limit warning method includes the following steps: Step S10: Determine the road information and weather information of the vehicle to be controlled at the current moment, and determine the signal situation based on the road information and the weather information.

[0027] Understandably, the vehicle to be controlled refers to the vehicle for which a speed limit warning needs to be issued to the driver. The road information of the vehicle to be controlled at the current moment can be determined. The road information may include ordinary roads, tunnels, canyons, etc. The weather information at the current moment can also be determined, such as rain or fog.

[0028] It should be understood that signal conditions can be determined based on road and weather information. Signal conditions may include satellite signal conditions and visual signal conditions. Satellite signal conditions refer to the quality of satellite signals, while visual signal conditions refer to the quality of visual signals collected by the visual sensors on the vehicle to be controlled.

[0029] Furthermore, in order to accurately obtain satellite signal information and visual signal information, in this embodiment, step S10 includes: determining the road information and weather information of the vehicle to be controlled at the current moment; determining the satellite signal information corresponding to the current satellite signal based on the road information; and determining the visual signal information corresponding to the current visual signal based on the weather information.

[0030] Understandably, the satellite signal condition corresponding to the current satellite signal can be determined based on road information. For example, if the road information indicates a normal road, the satellite signal condition is considered good; if the road information indicates a tunnel or canyon, the satellite signal condition is considered poor. Similarly, the visual signal condition corresponding to the current visual signal can be determined based on weather information. If the weather information indicates good weather, the visual signal condition is considered good; if the weather information indicates rain or fog, the visual signal condition is considered poor.

[0031] Step S20: Determine whether a speed limit warning needs to be issued to the driver based on the signal situation.

[0032] In practice, the system can determine whether a speed limit warning is needed for the driver based on the satellite signal and visual signal conditions. Specifically, when both visual and satellite signals are good, the system can determine the speed limit conditions (such as the maximum speed) of the road where the vehicle is located using the current visual signal. It can also determine the distance to the speed limit area using the current satellite signal. If the current speed exceeds the maximum speed limit for the current road segment when the vehicle is close to the speed limit area, then a speed limit warning needs to be issued to the driver.

[0033] Step S30: If yes, determine the target distance between the vehicle to be controlled and the speed measurement area, and determine the speed limit conditions based on the signal conditions.

[0034] Understandably, when speed limit warnings are needed for drivers, the target distance between the vehicle to be controlled and the speed measurement area can be further precisely determined. The speed measurement area refers to the area where speed limits are required, such as tunnels or bridges. Simultaneously, speed limit conditions can be determined based on signal conditions, which may include speed thresholds.

[0035] Step S40: Provide a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions.

[0036] Furthermore, in order to effectively provide speed limit warnings to the driver, in this embodiment, step S40 includes: when the target distance is less than a preset warning distance, providing a first-level warning to the driver based on the current speed of the vehicle to be controlled and the speed limit conditions; if the first-level warning fails, and the target distance is less than a preset intervention distance, then the vehicle to be controlled performs braking control to provide a second-level warning, wherein the preset intervention distance is less than the preset warning distance.

[0037] It should be understood that the preset warning distance refers to the distance that needs to be set in advance to warn the driver. For example, if the distance to the speed measurement point is 300 meters, and the target distance between the vehicle to be controlled and the speed limit area is less than the preset warning distance, if the current speed exceeds the speed limit threshold in the speed limit conditions, then a level one warning can be issued to the driver. This can include acoustic warnings and tactile warnings. Acoustic warnings include specific prompt sounds and blocking entertainment music, while tactile warnings include vibrations of the accelerator pedal.

[0038] In practical implementation, the preset intervention distance refers to the distance at which braking control of the vehicle is pre-set. If the first-level warning fails—that is, if the driver is detected not taking effective deceleration measures, such as not releasing the accelerator pedal or the vehicle speed not decreasing—the vehicle to be controlled can be braked when it enters a closer preset intervention distance, such as 30-50 meters from the speed measuring point, to provide a second warning. Specifically, the intervention strategy can be automatically executed by the vehicle controller, and may include: Powertrain intervention: For traditional fuel vehicles, the Hybrid Control Unit (HCU) issues an engine fuel cut-off command; for electric vehicles, the Vehicle Control Unit (VCU) issues a motor torque limiting or power reversal command to generate braking force. Braking system intervention: Simultaneously, the VCU / HCU sends a braking force request to the Electronic Stability Program (ESP), Electronic Stability Control (ESC), and Anti-lock Braking System (ABS) to perform active braking. Through the above combined interventions, the system ensures that the speed of the vehicle to be controlled drops to the speed limit threshold when passing through the speed measuring point.

[0039] For example, if a vehicle enters a 300-meter radius from a speed measurement point at 125 km / h, the TCU / VCU determines it is speeding and triggers a Level 1 warning (audio alert + pedal vibration). The driver receives the warning, releases the accelerator, and the vehicle decelerates to 118 km / h, passing safely without triggering Level 2 intervention. If the driver does not react in time, the VCU initiates Level 2 intervention within the mandatory intervention distance, forcibly reducing the vehicle speed to 118 km / h through braking and torque limiting, before the vehicle passes through the construction area. This embodiment clearly distinguishes the power system characteristics of traditional fuel vehicles and electric vehicles, proposing differentiated and refined control commands for fuel cut-off (fuel vehicles) and torque limiting / power reversal (electric vehicles), ensuring the efficiency of intervention measures and vehicle safety.

[0040] This embodiment determines the road and weather information of the vehicle under control at the current moment, and determines the signal conditions based on the road and weather information. Then, it determines whether a speed limit warning is needed for the driver based on the signal conditions. If so, it determines the target distance between the vehicle under control and the speed measurement area, and determines the speed limit conditions based on the signal conditions. Finally, it issues a speed limit warning to the driver based on the target distance, the current speed of the vehicle under control, and the speed limit conditions. This embodiment first determines whether a speed limit warning is needed for the driver based on the signal conditions corresponding to the vehicle under control, avoiding frequent speed limit warnings. When a speed limit warning is needed, it is issued to the driver based on the target distance, current speed, and speed limit conditions, thereby enabling timely speed limit warnings to the driver and improving driving safety.

[0041] Referring to Figure 2, which is a flowchart of the second embodiment of the vehicle speed limit warning method of this application.

[0042] Based on the first embodiment described above, in this embodiment, step S20 includes: step S201: determining whether the satellite signal condition meets the requirements of a normal satellite signal condition, and obtaining a first determination result.

[0043] Understandably, it is possible to determine whether the satellite signal condition meets the requirements of a normal satellite signal condition and obtain a first determination result. In a feasible embodiment, the signal-to-noise ratio of the current satellite signal can be determined. When the signal-to-noise ratio is greater than a threshold, it is determined that the satellite signal condition corresponding to the current satellite signal meets the requirements of a normal satellite signal condition.

[0044] Step S202: Determine whether the visual signal condition meets the requirements of a normal visual signal condition, and obtain a second determination result.

[0045] It should be understood that a second judgment result can be obtained by determining whether the visual signal condition meets the normal visual signal condition. In one feasible embodiment, the sharpness of the image corresponding to the current visual signal can be determined. When the sharpness is greater than a threshold, it is determined that the visual signal condition corresponding to the current visual signal meets the normal visual signal condition.

[0046] Step S203: Determine whether a speed limit warning needs to be issued to the driver based on the first judgment result and the second judgment result.

[0047] Furthermore, in order to effectively determine whether a speed limit warning needs to be issued to the driver, in this embodiment, step S203 includes: when the first determination result is that the normal satellite signal condition is met and the second determination result is that the normal visual signal condition is met, determining whether a speed limit warning needs to be issued to the driver based on the current satellite signal and the current visual signal; when the first determination result is that the normal satellite signal condition is met and the second determination result is that the normal visual signal condition is not met, determining whether a speed limit warning needs to be issued to the driver based on the current satellite signal; when the first determination result is that the normal satellite signal condition is not met and the second determination result is that the normal visual signal condition is met, determining whether a speed limit warning needs to be issued to the driver based on the current visual signal; when the first determination result is that the normal satellite signal condition is not met and the second determination result is that the normal visual signal condition is not met, determining whether a speed limit warning needs to be issued to the driver through the inertial navigation system on the vehicle to be controlled.

[0048] Understandably, when both the first and second judgments indicate that the satellite signal condition is normal, a speed limit warning can be issued to the driver based on the current satellite and visual signals. For example, a vehicle is traveling on a highway, and there is a fixed speed camera 3 kilometers ahead. The map shows a speed limit of 120 km / h. Signal conditions: Satellite signal is normal, visual signal is normal. Process: When approximately 500 meters from the speed camera, the satellite determines that a speed limit warning is needed for the driver.

[0049] It should be understood that when the first judgment result is that the satellite signal condition meets normal satellite signal conditions, and the second judgment result is that the visual signal condition does not meet normal visual signal conditions, a decision can be made based on the current satellite signal to determine whether a speed limit warning needs to be issued to the driver. For example, when a vehicle is driving on a highway and suddenly encounters heavy rain or fog, the dense raindrops and strong water spray on the road surface severely interfere with camera imaging, causing a sharp drop in the confidence of the visual system. Signal condition: Visual signal condition is abnormal, satellite signal condition is normal. Process: Visual path: The system self-diagnoses through internal algorithms (such as image blurriness, contrast, sign recognition failure rate), determines that the current environment causes visual recognition to be unreliable, and sends a "visual system degradation" status signal to the VCU. When approximately 500 meters from the speed measurement point, the satellite determines that a speed limit warning needs to be issued to the driver.

[0050] In practical implementation, when the first judgment result indicates a failure to meet normal satellite signal conditions and the second judgment result indicates a meeting of normal visual signal conditions, a speed limit warning can be issued to the driver based on the current visual signal. For example, a vehicle enters a long tunnel or canyon at night, satellite signal is lost, and lighting inside the tunnel is generally poor. Signal conditions: Visual signal is normal, satellite signal is abnormal. Process: Satellite failure. There is a fixed speed camera inside the tunnel. With the assistance of the vehicle's headlights, the visual path successfully identifies the speed limit signs and speed camera signs inside the tunnel, and the radar continuously measures the distance. When approximately 400 meters from the speed camera, the visual system captures the image of the speed camera and issues an initial warning to the driver to limit their speed.

[0051] In this embodiment, when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is not met, the inertial navigation system on the vehicle to be controlled determines whether a speed limit warning needs to be issued to the driver. For example, when a vehicle enters a long tunnel in a deep mountain canyon, there is no satellite positioning signal at all, and there is heavy fog in the mountainous area. The reliability of the visual system drops sharply due to the fog in the long tunnel. Signal condition: Visual signal condition is abnormal, satellite signal condition is abnormal. Process: When the TCU / VCU receives a signal indicating that both the satellite system and the visual system are failing, it fuses the information from inertial guidance, visual signal, and radar ranging. The TCU / VCU receives the signal from the inertial guidance system and then fuses it with the visual system to help correct the accumulated error. It relies on radar ranging to measure the distance to the target area of ​​the camera, thereby extending the positioning range and positioning accuracy. The satellite path accuracy decreases, causing satellite positioning to fail, and heavy fog causes visual signal failure. The TCU / VCU cannot make decisions based on satellite positioning, map, and radar path; the VCU only relies on visual and radar path for decision-making. When the vehicle is about 1,000 meters away from the speed measurement point, the inertial guidance system will issue an early warning based on the system's positioning to provide the driver with a speed limit warning.

[0052] This embodiment determines whether a speed limit warning is needed by judging whether the satellite signal condition meets normal requirements. It then determines whether the visual signal condition meets normal requirements, obtaining a second judgment result. Finally, it uses both the first and second judgment results to determine whether a speed limit warning is necessary for the driver. This embodiment further determines whether a speed limit warning is needed based on whether the satellite and visual signals are normal, thus accurately determining whether a speed limit warning is required based on normal current satellite signals, normal current visual signals, or the inertial navigation system.

[0053] Referring to Figure 3, which is a flowchart of the third embodiment of the vehicle speed limit warning method of this application.

[0054] Based on the above embodiments, in this embodiment, step S30 includes: step S301: if so, determine the measurement range corresponding to the radar on the vehicle to be controlled.

[0055] Understandably, when it is necessary to issue speed limit warnings to the driver, the measurement range of the radar on the vehicle to be controlled can be determined, for example, within 300 meters.

[0056] Step S302: Within the measurement range, the target distance between the vehicle to be controlled and the speed measurement area is determined by the radar.

[0057] It should be understood that since radar can only measure within its corresponding measurement range, within the aforementioned measurement range, the target distance between the vehicle to be controlled and the speed measurement area can be measured by radar, that is, the target distance between the vehicle to be controlled and the speed measurement point can be measured.

[0058] Step S303: Determine the speed limit conditions based on the first judgment result and the second judgment result.

[0059] Furthermore, in order to accurately obtain the speed limit conditions, in this embodiment, step S303 includes: when the first judgment result is that the normal satellite signal condition is met and the second judgment result is that the normal visual signal condition is met, determining the speed limit conditions through the satellite system and the vision system on the vehicle to be controlled; when the first judgment result is that the normal satellite signal condition is met and the second judgment result is that the normal visual signal condition is not met, determining the speed limit conditions through the satellite system; when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is met, determining the speed limit conditions through the vision system; when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is not met, determining the speed limit conditions through the inertial navigation system.

[0060] Refer to Table 1, which shows the correspondence between road conditions, signal conditions, and technical routes.

[0061] Table 1:

[0062] Understandably, when the first judgment result is that the satellite signal condition is met and the second judgment result is that the visual signal condition is met, the speed limit condition can be determined through the satellite system and the vision system on the vehicle to be controlled. For example, when about 500 meters away from the speed measurement point, satellite system A issues an initial warning; when about 400 meters away, the vision system identifies the "Speed ​​Measurement Ahead" and "120" speed limit signs; when about 300 meters away, radar ranging confirms the target area. The TCU / VCU, fusing information from the satellite system and the vision system, confirms the speed limit ahead is 120 km / h, and the system is in a monitoring-ready state. If the vehicle enters the 300-meter range from the speed measurement point at 125 km / h, the TCU / VCU determines that it is speeding and triggers a first-level warning (audio alert + pedal vibration). The driver feels the warning, releases the accelerator, the vehicle decelerates to 118 km / h, and passes safely; the second-level intervention is not triggered. If the driver does not react in time, the VCU will initiate a secondary intervention within the mandatory intervention distance, forcibly reducing the vehicle speed to 118 km / h through braking and torque limiting, and then passing through the construction area.

[0063] It should be understood that when the first judgment result is that the satellite signal condition is met and the second judgment result is that the visual signal condition is not met, the speed limit condition is determined through the satellite system. For example, the system self-diagnoses through internal algorithms (such as image blurriness, contrast, and sign recognition failure rate), determines that the current environment makes visual recognition unreliable, and sends a "visual system degradation" status signal to the VCU. When the vehicle is about 500 meters away from the speed measurement point, the satellite system issues an early warning; when it is about 300 meters away from the speed measurement point, the radar distance confirms the target area. The TCU / VCU merges the information obtained from the satellite system and confirms that the speed limit ahead is 120 km / h, and the system is in a monitoring ready state. The vehicle enters the 300-meter range from the speed measurement point at 125 km / h, the VCU determines that it is speeding, and triggers a first-level warning (audio warning + pedal vibration). If the driver feels the warning, releases the accelerator, the vehicle decelerates to 118 km / h, and passes safely, and the second-level intervention is not triggered. If the driver does not react in time, the VCU will initiate a secondary intervention within the mandatory intervention distance, forcibly reducing the vehicle speed to 118 km / h through braking and torque limiting, and then passing through the construction area.

[0064] In practical implementation, when the first judgment result indicates a failure to meet normal satellite signal conditions and the second judgment result indicates a compliance with normal visual signal conditions, the speed limit condition is determined through the visual system. For example, at approximately 400 meters from the speed measurement point, the visual system captures an image of the speed measurement point and issues an initial warning. At approximately 300 meters from the speed measurement point, radar ranging confirms the target area. The TCU / VCU fuses the information obtained from the visual system and makes decisions based on the visual system and radar ranging. Confirming a speed limit of 60 km / h ahead in the tunnel, the system is in a monitoring-ready state. If a vehicle enters the long tunnel intervention range at 80 km / h, the TCU / VCU determines the speeding and triggers a first-level warning (audio alert + pedal vibration). If the driver feels the warning, releases the accelerator, and the vehicle decelerates to 60 km / h, passing safely without triggering a second-level intervention. If the driver does not react in time, the TCU / VCU initiates a second-level intervention within the mandatory intervention distance, forcibly reducing the vehicle speed to 60 km / h through braking and torque limiting, before passing through the construction area.

[0065] In this embodiment, when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is not met, the speed limit condition can be determined by the inertial navigation system. For example, the TCU / VCU satellite positioning cannot make decisions based on maps and radar paths; the VCU only relies on visual path B and radar path D to make decisions.

[0066] At approximately 1000 meters from the speed measurement point, the inertial guidance system (IoV) issues an initial warning based on system positioning. The vision system captures roadside references 400-1000 meters from the speed measurement point, helping the IoV correct accumulated errors during its operation. At approximately 300 meters from the speed measurement point, the IoV system, fused with radar ranging assistance, reconfirms the target distance. The TCU / VCU, based on information from the inertial system, makes decisions using the vision system and radar ranging. Confirming a 60 km / h speed limit ahead in the tunnel, the system is in monitoring ready state. The vehicle enters the long tunnel and foggy area at 80 km / h, exceeding the speed limit. The TCU / VCU determines the speeding and triggers a Level 1 warning (audio alert + pedal vibration). The driver receives the warning, releases the accelerator, and the vehicle decelerates to 60 km / h, passing safely. The Level 2 intervention is not triggered.

[0067] In this embodiment, when a speed limit warning is required for the driver, the measurement range corresponding to the radar on the vehicle to be controlled is determined. Within the measurement range, the target distance between the vehicle to be controlled and the speed measurement area is determined by the radar. Then, the speed limit conditions are determined based on the first judgment result and the second judgment result.

[0068] Referring to Figure 4, which is a structural block diagram of the first embodiment of the vehicle speed limit warning device of this application.

[0069] As shown in Figure 4, the vehicle speed limit warning device proposed in this embodiment includes: a signal condition determination module 10, used to determine the road information and weather information of the vehicle to be controlled at the current moment, and to determine the signal condition based on the road information and the weather information; a speed limit warning judgment module 20, used to determine whether a speed limit warning needs to be issued to the vehicle to be controlled based on the signal condition; a speed limit condition determination module 30, used to determine the target distance between the vehicle to be controlled and the speed measurement area when a speed limit warning needs to be issued to the vehicle to be controlled, and to determine the speed limit condition based on the signal condition; and a vehicle speed limit warning module 40, used to issue a speed limit warning to the vehicle to be controlled based on the target distance, the current speed of the vehicle to be controlled, and the speed limit condition.

[0070] This embodiment determines the road and weather information of the vehicle under control at the current moment, and determines the signal conditions based on the road and weather information. Then, it determines whether a speed limit warning is needed for the driver based on the signal conditions. If so, it determines the target distance between the vehicle under control and the speed measurement area, and determines the speed limit conditions based on the signal conditions. Finally, it issues a speed limit warning to the driver based on the target distance, the current speed of the vehicle under control, and the speed limit conditions. This embodiment first determines whether a speed limit warning is needed for the driver based on the signal conditions corresponding to the vehicle under control, avoiding frequent speed limit warnings. When a speed limit warning is needed, it is issued to the driver based on the target distance, current speed, and speed limit conditions, thereby enabling timely speed limit warnings to the driver and improving driving safety.

[0071] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In practical applications, those skilled in the art can select some or all of it to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0072] In addition, for technical details not described in detail in this embodiment, please refer to the vehicle speed limit warning method provided in any embodiment of this application, which will not be repeated here.

[0073] Based on the first embodiment of the vehicle speed limit warning device described in this application, a second embodiment of the vehicle speed limit warning device of this application is proposed.

[0074] In this embodiment, the signal conditions include: satellite signal conditions and visual signal conditions; the signal condition determination module 10 is further configured to determine the road information and weather information of the vehicle to be controlled at the current moment; determine the satellite signal conditions corresponding to the current satellite signal based on the road information; and determine the visual signal conditions corresponding to the current visual signal based on the weather information.

[0075] Furthermore, the speed limit warning judgment module 20 is also used to judge whether the satellite signal condition meets the normal satellite signal condition and obtain a first judgment result; judge whether the visual signal condition meets the normal visual signal condition and obtain a second judgment result; and judge whether a speed limit warning needs to be issued to the driver based on the first judgment result and the second judgment result.

[0076] Furthermore, the speed limit warning judgment module 20 is also used to determine whether a speed limit warning needs to be issued to the driver based on the current satellite signal and the current visual signal when the first judgment result is that the normal satellite signal condition is met and the second judgment result is that the normal visual signal condition is met; when the first judgment result is that the normal satellite signal condition is met and the second judgment result is that the normal visual signal condition is not met, it determines whether a speed limit warning needs to be issued to the driver based on the current satellite signal; when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is met, it determines whether a speed limit warning needs to be issued to the driver based on the current visual signal; and when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is not met, it determines whether a speed limit warning needs to be issued to the driver through the inertial navigation system on the vehicle to be controlled.

[0077] Furthermore, the speed limit condition determination module 30 is also used to determine the measurement range corresponding to the radar on the vehicle to be controlled when a speed limit warning is required for the driver; within the measurement range, the target distance between the vehicle to be controlled and the speed measurement area is determined by the radar; and the speed limit condition is determined based on the first judgment result and the second judgment result.

[0078] Furthermore, the speed limit condition determination module 30 is also used to determine the speed limit condition through the satellite system and the vision system on the vehicle to be controlled when the first judgment result is that the normal satellite signal condition is met and the second judgment result is that the normal visual signal condition is met; to determine the speed limit condition through the satellite system when the first judgment result is that the normal satellite signal condition is met and the second judgment result is that the normal visual signal condition is not met; to determine the speed limit condition through the vision system when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is met; and to determine the speed limit condition through the inertial navigation system when the first judgment result is that the normal satellite signal condition is not met and the second judgment result is that the normal visual signal condition is not met.

[0079] Furthermore, the vehicle speed limit warning module 40 is also used to issue a first-level warning to the driver based on the current speed of the vehicle to be controlled and the speed limit condition when the target distance is less than the preset warning distance; if the first-level warning fails, and the target distance is less than the preset intervention distance, the vehicle to be controlled will brake to issue a second-level warning, where the preset intervention distance is less than the preset warning distance.

[0080] Other embodiments or specific implementations of the vehicle speed limit warning device of this application can be found in the above-described method embodiments, and will not be repeated here.

[0081] This application provides a vehicle speed limit warning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle speed limit warning method in the above embodiment 1.

[0082] Referring to Figure 5 below, a schematic diagram of a vehicle speed limit warning device suitable for implementing embodiments of this application is shown. The vehicle speed limit warning device in embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The vehicle speed limit warning device shown in Figure 5 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of this application.

[0083] As shown in Figure 5, the vehicle speed limit warning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the vehicle speed limit warning device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vehicle speed limit warning device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows vehicle speed limit warning devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0084] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0085] The vehicle speed limit warning device provided in this application, employing the vehicle speed limit warning method in the above embodiments, can solve the technical problem of how to provide timely speed limit warnings to drivers and improve driving safety. Compared with the prior art, the beneficial effects of the vehicle speed limit warning device provided in this application are the same as those of the vehicle speed limit warning method provided in the above embodiments, and other technical features of this vehicle speed limit warning device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0086] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0087] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0088] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the vehicle speed limit warning method in the above embodiments.

[0089] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0090] The aforementioned computer-readable storage medium may be included in the vehicle speed limit warning device; or it may exist independently and not be installed in the vehicle speed limit warning device.

[0091] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the vehicle speed limit warning device, cause the vehicle speed limit warning device to: determine the road information and weather information of the vehicle to be controlled at the current moment, and determine the signal situation based on the road information and the weather information; determine whether a speed limit warning needs to be issued to the driver based on the signal situation; if so, determine the target distance between the vehicle to be controlled and the speed measurement area, and determine the speed limit conditions based on the signal situation; and issue a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions.

[0092] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Python, Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0094] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0095] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described vehicle speed limit warning method. This solves the technical problem of how to provide timely speed limit warnings to drivers and improve driving safety. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle speed limit warning method provided in the above embodiments, and will not be repeated here.

[0096] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. A vehicle speed limit warning method, characterized in that, The vehicle speed limit warning method includes the following steps: determining the road information and weather information of the vehicle to be controlled at the current moment, and determining the signal situation based on the road information and the weather information; determining whether a speed limit warning needs to be issued to the driver based on the signal situation; if so, determining the target distance between the vehicle to be controlled and the speed measurement area, and determining the speed limit conditions based on the signal situation; and issuing a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions.

2. The vehicle speed limit warning method as described in claim 1, characterized in that, The signal conditions include: satellite signal conditions and visual signal conditions; determining the road information and weather information of the vehicle to be controlled at the current moment, and determining the signal conditions based on the road information and the weather information, includes: determining the road information of the vehicle to be controlled at the current moment and the weather information at the current moment; determining the satellite signal conditions corresponding to the current satellite signal based on the road information; and determining the visual signal conditions corresponding to the current visual signal based on the weather information.

3. The vehicle speed limit warning method as described in claim 2, characterized in that, The step of determining whether a speed limit warning needs to be issued to the driver based on the signal conditions includes: determining whether the satellite signal conditions meet the requirements of normal satellite signal conditions to obtain a first determination result; determining whether the visual signal conditions meet the requirements of normal visual signal conditions to obtain a second determination result; and determining whether a speed limit warning needs to be issued to the driver based on the first determination result and the second determination result.

4. The vehicle speed limit warning method as described in claim 3, characterized in that, The step of determining whether a speed limit warning needs to be issued to the driver based on the first judgment result and the second judgment result includes: when the first judgment result indicates that the satellite signal condition is met and the second judgment result indicates that the visual signal condition is met, determining whether a speed limit warning needs to be issued to the driver based on the current satellite signal and the current visual signal; when the first judgment result indicates that the satellite signal condition is met and the second judgment result indicates that the visual signal condition is not met, determining whether a speed limit warning needs to be issued to the driver based on the current satellite signal; when the first judgment result indicates that the satellite signal condition is not met and the second judgment result indicates that the visual signal condition is met, determining whether a speed limit warning needs to be issued to the driver based on the current visual signal; and when the first judgment result indicates that the satellite signal condition is not met and the second judgment result indicates that the visual signal condition is not met, determining whether a speed limit warning needs to be issued to the driver through the inertial navigation system on the vehicle to be controlled.

5. The vehicle speed limit warning method as described in claim 4, characterized in that, If yes, then determine the target distance between the vehicle to be controlled and the speed measurement area, and determine the speed limit conditions according to the signal conditions, including: if yes, determine the measurement range corresponding to the radar on the vehicle to be controlled; within the measurement range, determine the target distance between the vehicle to be controlled and the speed measurement area through the radar; and determine the speed limit conditions according to the first judgment result and the second judgment result.

6. The vehicle speed limit warning method as described in claim 5, characterized in that, The step of determining the speed limit condition based on the first judgment result and the second judgment result includes: when the first judgment result indicates that a normal satellite signal condition is met and the second judgment result indicates that a normal visual signal condition is met, determining the speed limit condition through a satellite system and a vision system on the vehicle to be controlled; when the first judgment result indicates that a normal satellite signal condition is met and the second judgment result indicates that a normal visual signal condition is not met, determining the speed limit condition through a satellite system; when the first judgment result indicates that a normal satellite signal condition is not met and the second judgment result indicates that a normal visual signal condition is met, determining the speed limit condition through a vision system; and when the first judgment result indicates that a normal satellite signal condition is not met and the second judgment result indicates that a normal visual signal condition is not met, determining the speed limit condition through an inertial navigation system.

7. The vehicle speed limit warning method as described in any one of claims 1 to 6, characterized in that, The step of issuing a speed limit warning to the driver based on the target distance, the current speed of the vehicle to be controlled, and the speed limit conditions includes: issuing a first-level warning to the driver based on the current speed of the vehicle to be controlled and the speed limit conditions when the target distance is less than a preset warning distance; and if the first-level warning fails, and the target distance is less than a preset intervention distance, then the vehicle to be controlled will brake to issue a second-level warning, wherein the preset intervention distance is less than the preset warning distance.

8. A vehicle speed limit warning device, characterized in that, The vehicle speed limit warning device includes: a signal condition determination module, used to determine the road information and weather information of the vehicle to be controlled at the current moment, and determine the signal condition based on the road information and the weather information; a speed limit warning judgment module, used to determine whether a speed limit warning needs to be issued to the vehicle to be controlled based on the signal condition; a speed limit condition determination module, used to determine the target distance between the vehicle to be controlled and the speed measurement area when a speed limit warning needs to be issued to the vehicle to be controlled, and determine the speed limit condition based on the signal condition; and a vehicle speed limit warning module, used to issue a speed limit warning to the vehicle to be controlled based on the target distance, the current speed of the vehicle to be controlled, and the speed limit condition.

9. A vehicle speed limit warning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle speed limit warning method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the vehicle speed limit warning method as described in any one of claims 1 to 7.

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