A memory piloting function vehicle speed regulation method, device and electronic equipment

Abstract

This application provides a method, apparatus, and electronic device for adjusting vehicle speed using a memory navigation function. The method includes: acquiring a memory route for the memory navigation function; wherein the memory route includes a driving trajectory and a manually driven memory speed corresponding to each road segment in the driving trajectory; in response to the activation of the memory navigation function, acquiring road attribute information for each road segment, and determining a base speed for each road segment based on the road attribute information and the manually driven memory speed corresponding to each road segment; acquiring real-time driving environment information, and integrating at least one speed constraint strategy to correct the base speed for each road segment, thereby obtaining a target speed for the memory navigation function in each road segment; and controlling the vehicle to drive at the target speed in each road segment. This reduces the safety risks of the memory navigation function and improves the user experience.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, device and electronic device for adjusting vehicle speed with a memory navigation function. Background Technology

[0002] With the continuous development of intelligent driving technology, the adoption rate of urban navigation functions is increasing year by year. Among them, memory navigation function, as an urban navigation solution for low-cost intelligent driving systems, has received widespread attention from the market. Through memory navigation function, the vehicle learns fixed route data from manual driving in advance, and then can achieve autonomous driving on that route.

[0003] However, existing memory navigation functions typically only use fixed road speed limits, which may lead to safety risks due to improper speed settings during actual driving, affecting the user experience of using the memory navigation function and thus limiting its application. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, device and electronic device for adjusting vehicle speed with memory navigation function, which can reduce the safety risks of memory navigation function and improve the user experience.

[0005] This application provides a method for adjusting vehicle speed using a navigation memory function, the method comprising: The system acquires the memory route of the navigation function; wherein the memory route includes the driving trajectory and the manual driving memory speed corresponding to each segment of the driving trajectory. In response to the activation of the memory navigation function, the road attribute information of each road segment is obtained, and the base speed of each road segment is determined based on the road attribute information and the manual driving memory speed corresponding to each road segment. Real-time driving environment information is obtained, and at least one speed constraint strategy is integrated to correct the base speed of each road segment, so as to obtain the target speed of the memory navigation function in each road segment. Control the vehicle to travel at the target speed on each road segment.

[0006] Furthermore, the step of acquiring road attribute information for each road segment and determining the base speed for each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment includes: The first road segment is determined based on the current vehicle location, and the manual driving memory speed corresponding to the first road segment is found; wherein, the first road segment includes the road segment where the vehicle is currently located or the next road segment that the vehicle is about to enter; The road attribute information of the first road segment is obtained by fusing vehicle-mounted visual sensors with the navigation system; The speed limit of the first road segment is determined based on the road attribute information; The upper speed limit is compared with the manually driven speed recorded for the first road segment, and the smaller value is taken as the base speed for the first road segment.

[0007] Furthermore, when the speed constraint strategy includes a speed limit for merging sections, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, thereby obtaining the target speed for the memory navigation function in each road segment, includes: When driving on any road segment, obtain road information ahead; If the road information indicates that a merging section is ahead, the base speed of the section is reduced based on the traffic parameters of vehicles around the merging section to obtain the target speed for that section.

[0008] Furthermore, when the speed constraint strategy includes speed limits for special environments, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, thereby obtaining the target speed for the memory navigation function in each road segment, includes: When driving on any road segment, obtain the current weather and / or lighting conditions; If the current weather and / or lighting conditions are target conditions that affect driving safety, then the base speed of the road segment is reduced according to the weather and / or lighting conditions to obtain the target speed of the road segment.

[0009] Furthermore, when the speed constraint strategy includes continuous intersection speed limits, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, to obtain the target speed of the memory navigation function in each road segment, includes: When driving on any road segment, obtain road information ahead; If the road information indicates that there are multiple consecutive short intersections ahead, then the distance between each pair of adjacent short intersections is determined. Using the constraint that the sum of the vehicle acceleration time and deceleration time between any two adjacent short-distance intersections is not less than the duration of the constant speed segment, the upper limit of vehicle speed between any two adjacent short-distance intersections is calculated based on the distance. The target speed for the road segment is obtained by correcting the base speed based on the speed limit.

[0010] Furthermore, when the speed constraint strategy includes road structure speed limits, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the baseline speed of each road segment, to obtain the target speed of the memory navigation function in each road segment, includes: When driving to any road segment, obtain the number of lanes in the direction of vehicle travel; set the upper limit of lane speed based on the number of lanes, and correct the base speed of the road segment based on the upper limit of lane speed to obtain the target speed of the road segment. And / or, obtain the road curvature of the vehicle's driving lane; set an upper limit for curvature speed based on the road curvature, and correct the base speed of the road segment based on the upper limit for curvature speed to obtain the target speed of the road segment.

[0011] Furthermore, the vehicle speed adjustment method also includes: When the vehicle is in manual driving mode, the current road segment corresponding to the vehicle's current location on the memorized route is matched in real time. If the actual driving speed of the current road segment is greater than the manual driving memory speed corresponding to the current road segment, then the manual driving memory speed of the current road segment will be updated to the actual driving speed of the current road segment.

[0012] Furthermore, the vehicle speed adjustment method also includes: When the memory navigation function is activated, the average speed of the surrounding traffic flow is collected during the vehicle's autonomous driving process. If the difference between the average driving speed and the current target speed is greater than a preset threshold, the current target speed is increased, and the manual driving memory speed of the current road segment is updated to the increased current target speed.

[0013] This application embodiment also provides a vehicle speed adjustment device with a memory navigation function, the device comprising: The acquisition module is used to acquire the memory route of the memory navigation function; wherein, the memory route includes the driving trajectory and the manual driving memory speed corresponding to each segment of the driving trajectory; The determination module is used to, in response to the activation of the memory navigation function, acquire road attribute information of each road segment, and determine the base speed of each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment. The correction module is used to acquire real-time driving environment information and integrate at least one speed constraint strategy to correct the base speed of each road segment, so as to obtain the target speed of the memory navigation function in each road segment. The control module is used to control the vehicle to travel at the target speed on each road segment.

[0014] This application embodiment also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the vehicle speed adjustment method of the memory navigation function described above are performed.

[0015] This application provides a method, device, and electronic device for adjusting vehicle speed using a memory navigation function. This allows for adaptive adjustment of the vehicle speed based on manually memorized speeds, combined with road attribute information and real-time driving environment information, thereby reducing the safety risks of the memory navigation function and improving the user experience. To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a vehicle speed adjustment method with memory navigation function provided in an embodiment of this application is shown; Figure 2 This paper shows a schematic diagram of the structure of a vehicle speed adjustment device with memory navigation function provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0019] Research has shown that with the continuous development of intelligent driving technology, the adoption rate of urban navigation functions is increasing year by year. Among them, memory navigation function, as an urban navigation solution for low-cost intelligent driving systems, has received widespread market attention. Through memory navigation function, vehicles learn fixed route data from manual driving in advance, and can then achieve autonomous driving on that route.

[0020] However, existing memory navigation functions typically only use fixed road speed limits. For example, they record the driver's speed during manual driving on a memory route and then control the vehicle's movement according to the recorded speed when the memory navigation function is activated later. This can lead to safety risks due to improper speed settings during actual driving, affecting the user experience of the memory navigation function and thus limiting its application.

[0021] Based on this, the embodiments of this application provide a method, device and electronic device for adjusting vehicle speed with memory navigation function, which can reduce the safety risks of memory navigation function and improve user experience.

[0022] Please see Figure 1 , Figure 1 This is a flowchart illustrating a vehicle speed adjustment method for a memory navigation function provided in an embodiment of this application. Figure 1 As shown in the embodiment of this application, the vehicle speed adjustment method includes: S101, Obtain the memory route for the memory navigation function.

[0023] The memory route includes the driving trajectory and the manual driving speeds corresponding to each segment of the driving trajectory. To use the memory navigation assisted driving function, the user needs to manually drive from point A to point B. During this process, the memory navigation system records the driver's driving trajectory and the manual driving speeds corresponding to each segment of the driving trajectory, learning the memory route for subsequent use. In this embodiment, each segment can be divided according to a fixed distance (e.g., every 100 meters) or according to road features (e.g., intersections, curves, etc.).

[0024] S102. In response to the activation of the memory navigation function, obtain the road attribute information of each road segment, and determine the base speed of each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment.

[0025] In this step, once the memory navigation assist function is activated, the memory navigation system obtains road attribute information for each road segment through the on-board equipment; and determines the base speed for each road segment by combining the road attribute information with the manual driving memory speed corresponding to each road segment.

[0026] In one possible implementation, step S102 may include: S1021. Determine the first road segment based on the current vehicle location, and find the manual driving memory speed corresponding to the first road segment.

[0027] In this step, the system obtains the current vehicle location in real time through the positioning module, matches the current vehicle location with road segment information in the memory route, determines the first road segment, and finds the corresponding manually driven speed memory for the first road segment. The first road segment is either the road segment the vehicle is currently on, or the next road segment the vehicle is about to enter. Specifically, the next road segment can be determined by the distance between road segments or the predicted travel time; that is, a road segment whose distance from the current road segment is less than a preset threshold, or a road segment the vehicle will enter within a preset time period. This allows for the prediction of the target speed in advance, facilitating smooth speed adjustment.

[0028] S1022. Obtain road attribute information of the first road segment by fusing the vehicle-mounted visual sensor with the navigation system.

[0029] In this step, the basic road attributes of the current road segment are obtained by fusing visual sensors (such as vehicle-mounted cameras) with the navigation map. The road attribute information includes, but is not limited to, road type (such as urban road, highway, elevated road, etc.).

[0030] S1023. Determine the speed limit of the first road segment based on the road attribute information.

[0031] In this step, the maximum speed limit for the memory navigation function on that road segment is determined based on road attribute information. For example, the maximum speed limit on urban roads can be set to 60 km / h, on highways to 120 km / h, and on elevated roads to 80 km / h.

[0032] S1024. Compare the upper speed limit with the manual driving memory speed corresponding to the first road segment, and take the smaller value as the base speed of the first road segment.

[0033] This ensures that the base speed for each road segment does not exceed the speed limit stipulated by the road and conforms to the user's habitual speed when driving manually, thus balancing safety and personalization.

[0034] In addition, road attribute information also includes speed limit information (such as electronic eyes) issued by the navigation map. At this time, the speed limit of the electronic eye, the speed limit determined by the road attribute information, and the manual driving memory speed corresponding to the first road segment can be compared, and the minimum value of the three can be taken as the base speed of the first road segment.

[0035] S103. Obtain real-time driving environment information and integrate at least one speed constraint strategy to correct the base speed of each road segment, so as to obtain the target speed of the memory navigation function in each road segment.

[0036] In this step, during the autonomous driving process using the memory navigation function, real-time driving environment information is acquired through onboard equipment. This real-time driving environment information is then input into the adopted speed constraint strategy to obtain the speed limit value for each speed constraint strategy. Finally, the speed limit values ​​from various speed constraint strategies are combined to obtain the final speed limit value. Specifically, the speed limit value output by each speed limit strategy can be compared with the base speed, and the minimum value is taken as the final speed limit value. Alternatively, the speed limit values ​​output by each speed limit strategy can be applied to the base speed sequentially in a certain order to obtain the final speed limit value.

[0037] It should be noted that in a real-world driving environment, under ideal conditions where there are no vehicles ahead, the final speed limit (or a reduction in speed) can be set as the target speed. However, when there are vehicles ahead, the actual target speed is also limited by the speed of the vehicle in front and the set following distance, etc. In this case, the final speed limit will be used as a reference factor for setting the speed. Finally, by combining various reference factors, the target speed for the memory navigation function in each road segment is determined. The specific determination method can refer to existing technologies, and this application does not impose any restrictions on it, but it is necessary to ensure that the target speed does not exceed the corresponding speed limit of the current road segment to ensure driving safety.

[0038] S104. Control the vehicle to travel at the target speed on each road segment.

[0039] Here, the target vehicle speed obtained after being fused and corrected by at least one of the above speed limit strategies is output to the vehicle longitudinal control system. When driving to any road segment, the vehicle longitudinal control system calculates the required acceleration or deceleration based on the difference between the target vehicle speed and the current actual vehicle speed for that road segment, and controls the underlying execution system to make the vehicle drive at the target vehicle speed in each road segment.

[0040] The following will detail the various vehicle speed constraint strategies provided in the embodiments of this application.

[0041] In a first possible implementation, when the speed constraint strategy includes a speed limit on merging sections, step S103 may include: When driving to any road segment, obtain the road information ahead; if the road information indicates that there is a merging segment ahead, reduce the base speed of the road segment according to the traffic parameters of the vehicles around the merging segment to obtain the target speed of the road segment.

[0042] Here, the system uses visual sensors (such as a forward-facing camera) to detect whether there is a merging section ahead, i.e., whether there are vehicles merging into the vehicle's lane; or whether the vehicle needs to merge into another lane. When a merging section is detected ahead, the system further combines traffic parameters of vehicles around the merging section (such as whether there are vehicles approaching from the side, traffic density in the merging area, etc.) to make a comprehensive judgment, and adjusts the base speed to obtain a speed limit value to ensure the safety and smoothness of the merging process.

[0043] In a second possible implementation, when the vehicle speed constraint strategy includes a special environment speed limit, step S103 may include: When driving on any road segment, the current weather conditions and / or lighting conditions are obtained; if the current weather conditions and / or lighting conditions are target conditions that affect driving safety, the base speed of the road segment is reduced according to the weather conditions and / or lighting conditions to obtain the target speed of the road segment.

[0044] Here, the system can acquire environmental perception information through vehicle-to-everything (V2X) devices or light sensors, including current weather conditions (such as rain, fog, snow, etc.) and / or lighting conditions (such as daytime, nighttime, and nighttime lighting conditions, etc.). Weather conditions and / or lighting conditions can affect the system's visual perception distance and braking distance, for example, by reducing the system's visual perception distance and increasing the braking distance, thereby affecting driving safety. Therefore, the degree of impact can be determined based on weather conditions and / or lighting conditions, and then the degree of attenuation can be determined, and the base vehicle speed can be adjusted downwards based on the degree of attenuation.

[0045] For example, when rain or fog is detected, the system lowers the base speed by a preset attenuation ratio (e.g., 10%) because the visual perception distance is reduced due to the weather. Similarly, when a nighttime scene is detected, the system lowers the base speed by a preset attenuation ratio (e.g., 10%) because insufficient light reduces the visual perception distance. Different attenuation ratios can also be used, such as 15% for heavy rain and 5% for light rain.

[0046] In a third possible implementation, when the speed constraint strategy includes speed limits at consecutive intersections, step S103 may include: S1031a. When driving to any road segment, obtain the road information ahead; if the road information indicates that there are multiple consecutive short-distance intersections ahead, determine the distance between each pair of adjacent short-distance intersections.

[0047] Here, the system obtains road information ahead, specifically including the spacing between consecutive intersections. When the spacing is less than a preset threshold, it indicates that there are multiple consecutive short intersections ahead. In order to avoid sudden acceleration and deceleration when passing through consecutive short intersections (such as due to not reaching the target speed, or traffic regulations requiring deceleration when approaching and passing intersections), which would affect passenger comfort, the system needs to perform speed planning between two short intersections. First, it determines the spacing between every two adjacent short intersections.

[0048] S1031b: Using the preset ratio that the sum of the vehicle acceleration time and deceleration time between any two adjacent short-distance intersections is not less than the duration of the constant speed segment as a constraint, calculate the upper limit of vehicle speed between any two adjacent short-distance intersections based on the distance; and correct the base speed of the road segment based on the upper limit of vehicle speed to obtain the target speed of the road segment.

[0049] Let the duration of the vehicle's acceleration phase be t_acc, the duration of the deceleration phase be t_dec, and the duration of the constant speed phase be t_const. The system uses the constraint that the total duration of the acceleration and deceleration phases (t_acc + t_dec) must be at least half the duration of the constant speed phase (t_const), i.e., t_acc + t_dec ≥ 1 / 2 × t_const; at the same time, the total distance of the acceleration, deceleration, and constant speed phases must satisfy the distance constraint D between the two short-distance intersections.

[0050] This determines the upper limit of vehicle speed between consecutive intersections, and the base speed is adjusted accordingly. This strategy allows vehicles to maintain relatively stable speed changes between consecutive intersections, avoiding frequent sudden acceleration and deceleration.

[0051] In a fourth possible implementation, when the vehicle speed constraint strategy includes road structure speed limits, step S103 may include: When driving to any road segment, the number of lanes in the direction of vehicle travel is obtained; a lane speed limit is set according to the number of lanes, and the base speed of the road segment is corrected based on the lane speed limit to obtain the target speed of the road segment.

[0052] Here, the system uses visual sensors (such as in-vehicle cameras) to identify the number of lanes in the current driving direction and constrains the vehicle speed limit based on the number of lanes to ensure driving safety.

[0053] Specifically, when a single lane is detected as the current travel direction, the maximum speed limit is set to a first preset speed (e.g., 40 km / h); when a two-lane road is detected, the maximum speed limit is set to a second preset speed (e.g., 60 km / h); and when three or more lanes are detected, the maximum speed limit is set to a third preset speed (e.g., 70 km / h). The first preset speed is lower than the second preset speed, and the second preset speed is lower than the third preset speed. The more lanes there are, the greater the road capacity, and the higher the permitted maximum speed.

[0054] And / or, obtain the road curvature of the vehicle's driving lane; set an upper limit for curvature speed based on the road curvature, and correct the base speed of the road segment based on the upper limit for curvature speed to obtain the target speed of the road segment.

[0055] Here, the system uses visual sensors (such as onboard cameras) to identify lane lines and obtain the road curvature of the vehicle's driving lane, or it can obtain the road curvature of the vehicle's driving lane from the road geometry information of the navigation map. To ensure stability when driving on curves, the system combines an assessment of the vehicle's lateral control performance with the road curvature to determine the upper limit of the vehicle speed on the curve. The greater the curvature (i.e., the sharper the curve), the lower the upper limit of the vehicle speed; the smaller the curvature (i.e., the gentler the curve), the higher the upper limit of the vehicle speed. The system then corrects the base speed based on the upper limit of the vehicle speed on the curve.

[0056] Furthermore, considering that the memory navigation may experience a lower speed due to traffic congestion when memorizing routes, this application embodiment also performs self-learning updates on the memorized speed.

[0057] The vehicle speed adjustment method provided in this application also includes: When the vehicle is in manual driving mode, the current location of the vehicle is matched in real time to the current road segment corresponding to the memory route; if the actual driving speed of the current road segment is greater than the manual driving memory speed corresponding to the current road segment, the manual driving memory speed of the current road segment is updated to the actual driving speed of the current road segment.

[0058] Here, the system matches the vehicle's location with the memorized route in real time. When it detects that the vehicle's actual speed on the current road segment is greater than the historical manually memorized speed for that segment, the system automatically updates the memorized speed to the current actual speed.

[0059] Through the above mechanism, when a user manually drives at a higher speed multiple times on the same road segment, the system will gradually update the memorized speed to the user's actual driving speed, so that the memorized speed continuously adapts to the user's driving habits.

[0060] Alternatively, the vehicle speed adjustment method provided in this application may also include: When the memory navigation function is activated, the average speed of surrounding traffic is collected during the vehicle's autonomous driving process; if the difference between the average speed and the current target speed is greater than a preset threshold, the current target speed is increased, and the manual driving memory speed of the current road segment is updated to the increased current target speed.

[0061] Here, when the memory navigation assist function is activated and the vehicle assists the driver in driving at the target speed, the system perceives the traffic flow around the current road segment through visual sensors or millimeter-wave radar. If the average speed of the surrounding traffic flow is detected to be greater than the vehicle's current target speed (e.g., the difference is greater than 10 km / h), the system can adaptively increase the vehicle's target speed (e.g., by increasing it by 5 km / h each time according to a preset step size), and use the increased target speed as the updated memory speed benchmark for that road segment for subsequent driving.

[0062] Through the aforementioned self-learning update mechanism, the system can continuously optimize the vehicle speed parameters in the memorized route. As the memorized navigation function is used, it becomes increasingly intelligent and more in line with the user's driving habits.

[0063] This application provides a method for adjusting vehicle speed using a memory navigation function. This method allows for adaptive adjustment of the vehicle speed based on manually memorized speeds, combined with road attribute information and real-time driving environment information, thereby reducing the safety risks of the memory navigation function and improving the user experience.

[0064] Please see Figure 2 , Figure 2 This is a schematic diagram of a vehicle speed adjustment device with memory navigation function provided in an embodiment of this application. Figure 2 As shown, the vehicle speed regulating device 200 includes: The acquisition module 210 is used to acquire the memory route of the memory navigation function; wherein, the memory route includes the driving trajectory and the manual driving memory speed corresponding to each segment of the driving trajectory; The determination module 220 is used to obtain road attribute information of each road segment in response to the activation of the memory navigation function, and determine the base speed of each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment. The correction module 230 is used to acquire real-time driving environment information and integrate at least one speed constraint strategy to correct the base speed of each road segment, so as to obtain the target speed of the memory navigation function in each road segment. The control module 240 is used to control the vehicle to travel at the target speed on each road segment.

[0065] Furthermore, when the determining module 220 acquires road attribute information for each road segment and determines the base speed for each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment, the determining module 220 is used to: The first road segment is determined based on the current vehicle location, and the manual driving memory speed corresponding to the first road segment is found; wherein, the first road segment includes the road segment where the vehicle is currently located or the next road segment that the vehicle is about to enter; The road attribute information of the first road segment is obtained by fusing vehicle-mounted visual sensors with the navigation system; The speed limit of the first road segment is determined based on the road attribute information; The upper speed limit is compared with the manually driven speed recorded for the first road segment, and the smaller value is taken as the base speed for the first road segment.

[0066] Furthermore, when the speed constraint strategy includes a speed limit for merging sections, the correction module 230, when acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment to obtain the target speed for the memory navigation function in each road segment, is used to: When driving on any road segment, obtain road information ahead; If the road information indicates that a merging section is ahead, the base speed of the section is reduced based on the traffic parameters of vehicles around the merging section to obtain the target speed for that section.

[0067] Furthermore, when the speed constraint strategy includes speed limits for special environments, the correction module 230, when acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment to obtain the target speed of the memory navigation function in each road segment, is used to: When driving on any road segment, obtain the current weather and / or lighting conditions; If the current weather and / or lighting conditions are target conditions that affect driving safety, then the base speed of the road segment is reduced according to the weather and / or lighting conditions to obtain the target speed of the road segment.

[0068] Furthermore, when the speed constraint strategy includes continuous intersection speed limits, the correction module 230, when acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment to obtain the target speed of the memory navigation function in each road segment, is used to: When driving on any road segment, obtain road information ahead; If the road information indicates that there are multiple consecutive short intersections ahead, then the distance between each pair of adjacent short intersections is determined. Using the constraint that the sum of the vehicle acceleration time and deceleration time between any two adjacent short-distance intersections is not less than the duration of the constant speed segment, the upper limit of vehicle speed between any two adjacent short-distance intersections is calculated based on the distance. The target speed for the road segment is obtained by correcting the base speed based on the speed limit.

[0069] Furthermore, when the speed constraint strategy includes road structure speed limits, the correction module 230, when acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment to obtain the target speed of the memory navigation function in each road segment, is used to: When driving to any road segment, obtain the number of lanes in the direction of vehicle travel; set the upper limit of lane speed based on the number of lanes, and correct the base speed of the road segment based on the upper limit of lane speed to obtain the target speed of the road segment. And / or, obtain the road curvature of the vehicle's driving lane; set an upper limit for curvature speed based on the road curvature, and correct the base speed of the road segment based on the upper limit for curvature speed to obtain the target speed of the road segment.

[0070] Furthermore, the vehicle speed adjustment device 200 also includes: an update module; the update module is used for: When the vehicle is in manual driving mode, the current road segment corresponding to the vehicle's current location on the memorized route is matched in real time. If the actual driving speed of the current road segment is greater than the manual driving memory speed corresponding to the current road segment, then the manual driving memory speed of the current road segment will be updated to the actual driving speed of the current road segment.

[0071] Furthermore, the update module is also used for: When the memory navigation function is activated, the average speed of the surrounding traffic flow is collected during the vehicle's autonomous driving process. If the difference between the average driving speed and the current target speed is greater than a preset threshold, the current target speed is increased, and the manual driving memory speed of the current road segment is updated to the increased current target speed.

[0072] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 300 includes a processor 310, a memory 320, and a bus 330.

[0073] The memory 320 stores machine-readable instructions that can be executed by the processor 310. When the electronic device 300 is running, the processor 310 and the memory 320 communicate via the bus 330. When the machine-readable instructions are executed by the processor 310, the steps of the vehicle speed adjustment method of the memory navigation function in the above method embodiment can be executed. For specific implementation, please refer to the method embodiment, which will not be repeated here.

[0074] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it can execute the steps of the vehicle speed adjustment method of the memory navigation function as described in the above method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0075] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0077] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0079] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered 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.

Claims

1. A vehicle speed regulation method of a memory piloting function, characterized in that, The vehicle speed adjustment method includes: The system acquires the memory route of the navigation function; wherein the memory route includes the driving trajectory and the manual driving memory speed corresponding to each segment of the driving trajectory. In response to the activation of the memory navigation function, the road attribute information of each road segment is obtained, and the base speed of each road segment is determined based on the road attribute information and the manual driving memory speed corresponding to each road segment. Real-time driving environment information is obtained, and at least one speed constraint strategy is integrated to correct the base speed of each road segment, so as to obtain the target speed of the memory navigation function in each road segment. Control the vehicle to travel at the target speed on each road segment.

2. The vehicle speed regulation method according to claim 1, characterized by, The process of acquiring road attribute information for each road segment and determining the base speed for each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment includes: The first road segment is determined based on the current vehicle location, and the manual driving memory speed corresponding to the first road segment is found; wherein, the first road segment includes the road segment where the vehicle is currently located or the next road segment that the vehicle is about to enter; The road attribute information of the first road segment is obtained by fusing the vehicle's visual sensors with the navigation system; The speed limit of the first road segment is determined based on the road attribute information; The upper speed limit is compared with the manually driven speed recorded for the first road segment, and the smaller value is taken as the base speed for the first road segment.

3. The vehicle speed adjustment method according to claim 1, characterized in that, When the speed constraint strategy includes a speed limit for merging sections, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, thereby obtaining the target speed for the memory navigation function in each road segment, includes: When driving on any road segment, obtain road information ahead; If the road information indicates that a merging section is ahead, the base speed of the section is reduced based on the traffic parameters of vehicles around the merging section to obtain the target speed for that section.

4. The vehicle speed adjustment method according to claim 1, characterized in that, When the speed constraint strategy includes a speed limit for special environments, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, to obtain the target speed of the memory navigation function for each road segment, includes: When driving on any road segment, obtain the current weather and / or lighting conditions; If the current weather and / or lighting conditions are target conditions that affect driving safety, then the base speed of the road segment is reduced according to the weather and / or lighting conditions to obtain the target speed of the road segment.

5. The vehicle speed adjustment method according to claim 1, characterized in that, When the speed constraint strategy includes continuous intersection speed limits, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, to obtain the target speed of the memory navigation function in each road segment, includes: When driving on any road segment, obtain road information ahead; If the road information indicates that there are multiple consecutive short intersections ahead, then the distance between each pair of adjacent short intersections is determined. Using the constraint that the sum of the vehicle acceleration time and deceleration time between any two adjacent short-distance intersections is not less than the duration of the constant speed segment, the upper limit of vehicle speed between any two adjacent short-distance intersections is calculated based on the distance. The target speed for the road segment is obtained by correcting the base speed based on the speed limit.

6. The vehicle speed adjustment method according to claim 1, characterized in that, When the speed constraint strategy includes road structure speed limits, the step of acquiring real-time driving environment information and integrating at least one speed constraint strategy to correct the base speed of each road segment, to obtain the target speed of the memory navigation function in each road segment, includes: When driving to any road segment, obtain the number of lanes in the direction of vehicle travel; set the upper limit of lane speed based on the number of lanes, and correct the base speed of the road segment based on the upper limit of lane speed to obtain the target speed of the road segment. And / or, obtain the road curvature of the vehicle's driving lane; set an upper limit for curvature speed based on the road curvature, and correct the base speed of the road segment based on the upper limit for curvature speed to obtain the target speed of the road segment.

7. The vehicle speed adjustment method according to claim 1, characterized in that, The vehicle speed adjustment method also includes: When the vehicle is in manual driving mode, the current road segment corresponding to the vehicle's current location on the memorized route is matched in real time. If the actual driving speed of the current road segment is greater than the manual driving memory speed corresponding to the current road segment, then the manual driving memory speed of the current road segment will be updated to the actual driving speed of the current road segment.

8. The vehicle speed adjustment method according to claim 1, characterized in that, The vehicle speed adjustment method also includes: When the memory navigation function is activated, the average speed of the surrounding traffic flow is collected during the vehicle's autonomous driving process. If the difference between the average driving speed and the current target speed is greater than a preset threshold, the current target speed is increased, and the manual driving memory speed of the current road segment is updated to the increased current target speed.

9. A vehicle speed adjustment device with memory navigation function, characterized in that, The vehicle speed regulating device includes: The acquisition module is used to acquire the memory route of the memory navigation function; wherein, the memory route includes the driving trajectory and the manual driving memory speed corresponding to each segment of the driving trajectory; The determination module is used to, in response to the activation of the memory navigation function, acquire road attribute information of each road segment, and determine the base speed of each road segment based on the road attribute information and the manual driving memory speed corresponding to each road segment. The correction module is used to acquire real-time driving environment information and integrate at least one speed constraint strategy to correct the base speed of each road segment, so as to obtain the target speed of the memory navigation function in each road segment. The control module is used to control the vehicle to travel at the target speed on each road segment.

10. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the speed adjustment method for the memory navigation function as described in any one of claims 1 to 8.

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