Method and system for obtaining vehicle speed limit information

Abstract

A method for obtaining vehicle speed limit information. The method comprises: acquiring from a camera system a first speed threshold value displayed on a speed limit sign; acquiring a second speed threshold value from a navigation system; and obtaining a speed limit value on the basis of the first speed threshold value and the second speed threshold value.

Description

A method and system for obtaining vehicle speed limit information Technical Field

[0001] This invention relates to a method and system for obtaining vehicle speed limit information, as well as a computer program product and a vehicle. More specifically, it relates to a method and system for obtaining vehicle speed limit information that can more reliably obtain road speed limit values, and a vehicle including the vehicle speed limit system. Background Technology

[0002] Traffic Sign Recognition (TSR) systems can identify traffic signs on roads where motor vehicles are traveling, determine the speed limits indicated by those signs, and display and / or warn the driver accordingly to improve driving safety. Furthermore, during vehicle operation, autonomous driving systems need to maintain the prescribed speed based on road speed limits. Speed ​​limits are obtained from two sources: speed limits captured by the vehicle's cameras on speed limit signs and speed limits stored on electronic maps in navigation software.

[0003] In existing technologies, if both the speed limit value captured by the camera and the road speed limit value stored in the electronic map exist, the speed limit value captured by the camera is directly selected for use by the autonomous driving system. However, in practice, the following situations may occur: the speed limit value captured by the camera may not be reliable, while the road speed limit value stored in the electronic map of the navigation software may be relatively more reliable. Therefore, simply selecting the speed limit data from the camera may result in the failure to obtain reliable speed limit data.

[0004] Therefore, it is desirable to propose a method for obtaining vehicle speed limit information to improve upon the shortcomings of the aforementioned prior art. Summary of the Invention

[0005] According to a first aspect of the present invention, a method for obtaining vehicle speed limit information is provided, comprising: obtaining a first speed threshold displayed on a speed limit sign from a camera system; obtaining a second speed threshold from a navigation system; and obtaining a speed limit value based on the first speed threshold and the second speed threshold.

[0006] According to the scheme, in the process of obtaining speed limit values, not only the speed limit data on the speed limit sign captured by the camera is considered, but also the road speed limit data stored in the electronic map of the navigation system, so that the obtained speed limit data is more reliable and the vehicle can drive within the speed limit range specified by the speed limit value.

[0007] In some schemes, the method for obtaining vehicle speed limit information may also include: calculating a first confidence level about a first speed threshold; calculating a second confidence level about a second speed threshold; if the first confidence level is greater than the second confidence level, then selecting the first speed threshold as the speed limit value; if the first confidence level is less than the second confidence level, then selecting the second speed threshold as the speed limit value.

[0008] According to this scheme, by comparing the confidence levels of two speed limit data sources, the speed limit data source with higher confidence level is selected as the speed limit value provided to the autonomous driving system, so that the autonomous driving system obtains more reliable speed limit data.

[0009] In some schemes, if the first confidence level is equal to the second confidence level, then the first speed threshold can be selected as the speed limit value.

[0010] In some schemes, the first confidence level can be calculated based on the distance the vehicle travels from the speed limit sign, and the first confidence level is negatively correlated with the distance the vehicle travels from the speed limit sign.

[0011] According to the scheme, the farther a vehicle is from a speed limit sign, the lower the reliability of the speed limit data captured by the camera is considered, which helps to select more reliable speed limit data for the autonomous driving system.

[0012] In some schemes, the first confidence level can be 1 when the vehicle is at the speed limit sign; and the first confidence level can be 0 when the vehicle is at the maximum distance from the speed limit sign.

[0013] According to this scheme, when the vehicle is exactly at the speed limit sign, the speed limit data captured by the camera on the speed limit sign can be considered completely reliable. However, when the vehicle has driven a very long distance away from the speed limit sign, the speed limit data captured by the camera on the speed limit sign can be considered completely unreliable. This helps to select more reliable speed limit data for the autonomous driving system.

[0014] In some schemes, the relationship between the first confidence level and the distance the vehicle travels from the speed limit sign can be: y = 1 - x / s. Here, y is the first confidence level, x is the distance the vehicle travels from the speed limit sign, and s is the maximum distance.

[0015] In some schemes, the second confidence level can be calculated based on road attributes and a second speed threshold.

[0016] According to this scheme, the reliability of speed limit data stored on the electronic map of the navigation system can be determined based on road attributes, which helps to select more reliable speed limit data for the autonomous driving system.

[0017] In some schemes, road attributes can be one of the following: highway main road, multi-lane, single-lane, roundabout, traffic square, highway branch road / ramp, non-highway branch road / ramp, auxiliary road / adjacent street road, parking lot entrance / exit.

[0018] In some schemes, the reliability of the second speed threshold is high when it is close to the speed limit corresponding to the road attribute; the reliability of the second speed threshold is low when it deviates greatly from the speed limit corresponding to the road attribute.

[0019] In some schemes, if the navigation system does not output a second speed threshold, the first speed threshold can be used as the speed limit; if the camera system does not output a first speed threshold, the second speed threshold can be used as the speed limit.

[0020] According to a second aspect of the present invention, a vehicle speed limiting system is provided, comprising: a camera module configured to acquire a first speed threshold displayed on a speed limit sign; a navigation module configured to acquire a second speed threshold; a processing module configured to obtain a speed limit value based on the first speed threshold and the second speed threshold; and a control module configured to enable the vehicle to travel within the speed range specified by the speed limit value.

[0021] According to the scheme, in the process of obtaining speed limit values, not only the speed limit data on the speed limit signs captured by cameras are considered, but also the road speed limit data stored in the electronic maps of the navigation system, making the obtained speed limit data more reliable.

[0022] In some schemes, the processing module can also be configured to: calculate a first confidence level about a first speed threshold; calculate a second confidence level about a second speed threshold; if the first confidence level is greater than the second confidence level, select the first speed threshold as the speed limit value; if the first confidence level is less than the second confidence level, select the second speed threshold as the speed limit value.

[0023] According to this scheme, by comparing the confidence levels of two speed limit data sources, the speed limit data source with higher confidence level is selected as the speed limit value provided to the autonomous driving system, so that the autonomous driving system obtains more reliable speed limit data.

[0024] In some embodiments, the processing module may further include a processing unit configured to perform the method described according to the first aspect of the invention.

[0025] According to a third aspect of the invention, a computer program product is provided, comprising computer-readable instructions stored in a computer-readable storage medium, which, when executed by a processor, cause the processor to perform the method described according to the first aspect of the invention.

[0026] According to a fourth aspect of the invention, a vehicle is provided that includes the vehicle speed limiting system described in the second aspect of the invention. Attached Figure Description

[0027] Figure 1 shows a schematic diagram of a method for obtaining vehicle speed limit information according to the present invention;

[0028] Figure 2 shows a graph of the first confidence level according to the invention and the distance the vehicle travels from the speed limit sign;

[0029] Figure 3-1 shows a distribution diagram of the second confidence level according to the first embodiment of the present invention;

[0030] Figure 3-2 shows the distribution of the second confidence level according to the second embodiment of the present invention;

[0031] Figure 3-3 shows the distribution of the second confidence level according to the third embodiment of the present invention;

[0032] Figures 3-4 show the distribution of the second confidence level according to the fourth embodiment of the present invention;

[0033] Figures 3-5 show the distribution of the second confidence level according to the fifth embodiment of the present invention;

[0034] Figures 3-6 show the distribution of the second confidence level according to the sixth embodiment of the present invention;

[0035] Figure 3-7 shows the distribution of the second confidence level according to the seventh embodiment of the present invention;

[0036] Figure 3-8 shows a distribution of the second confidence level according to the eighth embodiment of the present invention;

[0037] Figure 4 shows a schematic diagram of the vehicle speed limiting system according to the present invention. Detailed Implementation

[0038] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are also within the scope of protection of this disclosure.

[0039] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0040] While this application makes various references to certain modules of the systems according to embodiments of this application, any number of different modules can be used and run on user terminals and / or servers. The modules described are merely illustrative, and different aspects of the systems and methods may use different modules.

[0041] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0042] Figure 1 illustrates a schematic diagram of a method 100 for obtaining vehicle speed limit information according to the present invention. The method 100 includes first obtaining a first speed threshold from speed limit data captured by a camera on a speed limit sign and obtaining a second speed threshold from speed limit data provided by an electronic map of a navigation system; and calculating a first confidence level of the first speed threshold and a second confidence level of the second speed threshold. Exemplarily, the camera or camera system may be a front camera for sensing information ahead of the motor vehicle. Then, the first speed threshold and the second speed threshold are compared. If the first confidence level is greater than the second confidence level, the first speed threshold is selected as the speed limit value; if the first confidence level is less than the second confidence level, the second speed threshold is selected as the speed limit value. Finally, exemplarily, the selected speed limit value may be displayed on the vehicle-driver interface, such as the dashboard, to improve driving safety; and / or exemplarily, the selected speed limit value may also be provided to an autonomous driving system, enabling the autonomous driving system to control the vehicle to travel within the specified speed limit range.

[0043] In acquiring speed limit values, not only the speed limit data captured by cameras on speed limit signs is considered, but also the road speed limit data stored in the electronic maps of navigation systems, making the acquired speed limit data more reliable. More specifically, by comparing the confidence levels of the two speed limit data sources, the source with higher confidence is selected as the speed limit value provided to the autonomous driving system, enabling the autonomous driving system to obtain more reliable speed limit data.

[0044] It should be understood that the speed limit value of the present invention can be either a specified maximum driving speed or a specified minimum driving speed. If the speed limit value is the maximum driving speed, the autonomous driving system controls the vehicle's driving speed to not exceed the speed limit value; if the speed limit value is the minimum driving speed, the autonomous driving system controls the vehicle's driving speed to not be lower than the speed limit value.

[0045] Optionally, if the first confidence level is equal to the second confidence level, the first speed threshold can be selected as the speed limit value.

[0046] Preferably, if the navigation system does not output a second speed threshold, the first speed threshold can be used as the speed limit value; if the camera system does not output a first speed threshold, the second speed threshold can be used as the speed limit value.

[0047] Preferably, the first confidence level, which characterizes the reliability of the first speed threshold from the speed limit data captured by the camera on the speed limit sign, can be calculated based on the distance the vehicle travels from the speed limit sign, wherein the first confidence level is negatively correlated with the distance the vehicle travels from the speed limit sign. Because the speed limit data displayed on the speed limit sign may only represent the prescribed speed on a specific road segment after the vehicle has traveled past the speed limit sign, the greater the distance the vehicle travels from the speed limit sign, the lower the reliability of the speed limit data captured by the camera is considered, which helps the autonomous driving system select more reliable speed limit data.

[0048] Preferably, when the vehicle is at the speed limit sign, the first confidence level can be set to 1. When the vehicle moves away from the speed limit sign to the maximum distance, the first confidence level can be set to 0. When the vehicle is exactly at the speed limit sign, the speed limit data captured by the camera can be considered completely reliable. As the vehicle moves further away from the speed limit sign, the confidence level of the speed limit data can be considered to gradually decrease. When the vehicle has moved a very long distance from the speed limit sign, the speed limit data captured by the camera can be considered completely unreliable (for example, the vehicle has left the highway, and the speed limit data on the previous section of the highway is obviously meaningless for the subsequent section on a regular road). This helps to select more reliable speed limit data for the autonomous driving system.

[0049] Specifically, as shown in Figure 2, the horizontal axis represents the distance x from the speed limit sign, and the vertical axis represents the first confidence level y. The relationship between the first confidence level and the distance from the speed limit sign can be: y = 1 - x / s, where s is the limit distance (in the example shown in Figure 2, the limit distance is 200m). That is, there is a linear relationship between the first confidence level and the distance from the speed limit sign. When the vehicle is exactly at the speed limit sign, the first confidence level is 1 (completely reliable); when the vehicle is 100m away from the speed limit sign, the first confidence level drops to 0.5; and when the vehicle is 200m away from the speed limit sign, the first confidence level drops to 0 (completely unreliable). It should be understood that this invention does not aim to limit the specific functional relationship between the first confidence level y and the distance x from the speed limit sign, and any other suitable functional relationship can be set for the first confidence level y and the distance x from the speed limit sign according to different road conditions and other conditions.

[0050] Preferably, the second confidence level, characterizing the reliability of the second speed threshold stored on the electronic map from the navigation system, can be calculated based on road attributes and the second speed threshold. Road attributes can be one of the following: highway main road, multi-lane road, single-lane road, roundabout, traffic square, highway branch road / ramp, non-highway branch road / ramp, auxiliary road / adjacent street, parking lot entrance / exit. According to road-related laws and regulations, roads with different attributes have different speed limit ranges. If the second speed threshold is close to the speed limit stipulated by laws and regulations, the confidence level of the second speed threshold can be considered relatively high. Conversely, if the second speed threshold deviates significantly from the speed limit stipulated by laws and regulations, the confidence level of the second speed threshold can be considered relatively low, or even completely unreliable.

[0051] Optionally, when the vehicle is traveling on the main road of the highway, the confidence distribution of the second speed threshold is shown in Figure 3-1 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence).

[0052] Speed ​​limits for vehicles on highways are generally high (e.g., greater than 90 km / h) and cannot be very low (e.g., less than 50 km / h). Therefore, if the second speed threshold is greater than 90 km / h, its reliability can be considered relatively high (e.g., a second confidence level of 0.8 as shown in the figure). If the second speed threshold is less than 90 km / h, its reliability can be considered relatively low (e.g., a second confidence level less than 0.8 as shown in the figure). Furthermore, if the second speed threshold is too low (e.g., less than 50 km / h), it can be considered completely unreliable (e.g., a second confidence level of 0 as shown in the figure).

[0053] Optionally, when a vehicle is traveling on a multi-lane road, the confidence distribution of the second speed threshold is shown in Figure 3-2 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). On multi-lane roads, the speed limits for vehicles stipulated by laws and regulations are generally within a specific range (e.g., between 50 km / h and 80 km / h). Therefore, if the second speed threshold is between 50 km / h and 80 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is not between 50 km / h and 80 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5).

[0054] Optionally, when a vehicle is traveling on a single lane, the confidence distribution of the second speed threshold is shown in Figure 3-3 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). The speed limit for vehicles on a single lane, as stipulated by laws and regulations, is generally within a specific range (e.g., between 30 km / h and 70 km / h) and cannot be very high (e.g., greater than 120 km / h). Therefore, if the second speed threshold is between 30 km / h and 70 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is not between 30 km / h and 70 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5). Furthermore, if the second speed threshold is too high (e.g., greater than 120 km / h), the second speed threshold can be considered completely unreliable (e.g., the second confidence level shown in the figure is 0).

[0055] Optionally, when a vehicle is traveling on a roundabout, the confidence distribution of the second speed threshold is shown in Figure 3-4 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). The speed limits for vehicles on roundabouts, as stipulated by laws and regulations, are generally within a specific range (e.g., between 20 km / h and 50 km / h) and cannot be very high (e.g., greater than 100 km / h). Therefore, if the second speed threshold is between 20 km / h and 50 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is not between 20 km / h and 50 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5). Furthermore, if the second speed threshold is too high (e.g., greater than 100 km / h), the second speed threshold can be considered completely unreliable (e.g., the second confidence level shown in the figure is 0).

[0056] Optionally, when a vehicle is traveling on a traffic square or highway off-ramp / ramp, the confidence distribution of the second speed threshold is shown in Figure 3-5 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). The speed limits for vehicles on traffic squares or highway off-ramp / ramps, as stipulated by laws and regulations, are generally within a specific range (e.g., between 20 km / h and 40 km / h) and cannot be very high (e.g., greater than 90 km / h). Therefore, if the second speed threshold is between 20 km / h and 40 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is not between 20 km / h and 40 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5). Furthermore, if the second speed threshold is too high (e.g., greater than 90 km / h), the second speed threshold can be considered completely unreliable (e.g., the second confidence level shown in the figure is 0).

[0057] Optionally, when a vehicle is traveling on a non-highway branch road / ramp, the confidence distribution of the second speed threshold is shown in Figure 3-6 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). On non-highway branch roads / ramp, the speed limits for vehicles stipulated by laws and regulations are generally within a specific range (e.g., between 20 km / h and 40 km / h) and cannot be very high (e.g., greater than 70 km / h). Therefore, if the second speed threshold is between 20 km / h and 40 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is not between 20 km / h and 40 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5). Furthermore, if the second speed threshold is too high (e.g., greater than 70 km / h), the second speed threshold can be considered completely unreliable (e.g., the second confidence level shown in the figure is 0).

[0058] Optionally, when a vehicle is traveling on an auxiliary road / adjacent street, the confidence distribution of the second speed threshold is shown in Figure 3-7 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). The speed limits for vehicles on auxiliary roads / adjacent streets, as stipulated by laws and regulations, are generally within a specific range (e.g., between 20 km / h and 40 km / h) and cannot be very high (e.g., greater than 60 km / h). Therefore, if the second speed threshold is between 20 km / h and 40 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is not between 20 km / h and 40 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5). Furthermore, if the second speed threshold is too high (e.g., greater than 60 km / h), the second speed threshold can be considered completely unreliable (e.g., the second confidence level shown in the figure is 0).

[0059] Optionally, when a vehicle is traveling at a parking lot entrance or exit, the confidence distribution of the second speed threshold is shown in Figure 3-8 (the horizontal axis represents the obtained second speed threshold, and the vertical axis represents the second confidence level). The speed limits for vehicles at parking lot entrances and exits, as stipulated by laws and regulations, are generally low (e.g., less than 10 km / h) and unlikely to be very high (e.g., greater than 30 km / h). Therefore, if the second speed threshold is less than 10 km / h, the reliability of the second speed threshold can be considered relatively high (e.g., the second confidence level shown in the figure is 0.5). If the second speed threshold is greater than 10 km / h, the reliability of the second speed threshold can be considered relatively low (e.g., the second confidence level shown in the figure is less than 0.5). Furthermore, if the second speed threshold is too high (e.g., greater than 30 km / h), the second speed threshold can be considered completely unreliable (e.g., the second confidence level shown in the figure is 0).

[0060] It should be understood that the specific second speed threshold, confidence level, etc. involved in the above calculation of the second confidence level are merely exemplary. This invention is not intended to limit these specific values, but rather other appropriate corresponding values ​​can be selected based on different road conditions and local administrative regulations regarding roads.

[0061] Figure 4 shows a schematic diagram of a vehicle speed limiting system 200 according to the present invention. The vehicle speed limiting system 200 includes a camera module 210, a navigation module 220, a processing module 230, and a control module 240. The camera module 210 is configured to acquire a first speed threshold displayed on a speed limit sign, the navigation module 220 is configured to acquire a second speed threshold, the processing module 230 is configured to obtain a speed limit value based on the first and second speed thresholds, and the control module 240 is configured to cause the vehicle to travel within the speed range specified by the speed limit value.

[0062] Preferably, the processing module 230 is further configured to perform the following steps: calculating a first confidence level about a first speed threshold and a second confidence level about a second speed threshold; if the first confidence level is greater than the second confidence level, then selecting the first speed threshold as the speed limit value; if the first confidence level is less than the second confidence level, then selecting the second speed threshold as the speed limit value.

[0063] In acquiring speed limit values, not only the speed limit data captured by cameras on speed limit signs is considered, but also the road speed limit data stored in the electronic maps of navigation systems, making the acquired speed limit data more reliable. More specifically, by comparing the confidence levels of the two speed limit data sources, the source with higher confidence is selected as the speed limit value provided to the autonomous driving system, enabling the autonomous driving system to obtain more reliable speed limit data.

[0064] Although the camera module 210, navigation module 220, processing module 230, and control module 240 are presented as separate modules in Figure 4, those skilled in the art will understand that these device modules can be implemented as individual hardware devices or integrated into one or more hardware devices. The specific implementation of different hardware devices should not be considered a factor limiting the scope of protection of this disclosure, as long as the principles described herein can be achieved.

[0065] According to another aspect of this disclosure, a non-volatile computer-readable storage medium is also provided, on which computer-readable instructions are stored, which, when executed by a computer, can perform the methods described above.

[0066] The program portion of a technology can be considered a "product" or "artifact" existing in the form of executable code and / or related data, and is involved in or implemented through a computer-readable medium. Tangible, permanent storage media can include memory or storage used by any computer, processor, or similar device or related module. For example, various semiconductor memories, tape drives, disk drives, or any similar device capable of providing storage functionality for software.

[0067] All software, or parts thereof, may sometimes communicate via networks, such as the Internet or other communication networks. Such communication can load software from one computer device or processor to another. For example, loading software from a server or host computer of a vehicle speed limit system to a hardware platform of a computer environment, or another computer environment that implements the system, or a system with similar functionality related to providing the information needed to limit vehicle speed. Therefore, another medium capable of transmitting software elements can also be used as a physical connection between local devices, such as light waves, radio waves, electromagnetic waves, etc., propagated through cables, fiber optic cables, or air. Physical media used for carrier waves, such as cables, wireless connections, or fiber optic cables, can also be considered as media carrying software. In this context, unless limited to tangible "storage" media, the term "readable medium" for a computer or machine refers to the medium involved in the execution of any instructions by the processor.

[0068] This application uses specific terms to describe embodiments of the application. Terms such as "first / second embodiment," "an embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0069] Furthermore, those skilled in the art will understand that aspects of this application can be described and illustrated through several patentable types or situations, including any new and useful combination of processes, machines, products, or substances, or any new and useful improvements thereof. Accordingly, aspects of this application can be implemented entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. All of the above hardware or software may be referred to as a “data block,” “module,” “engine,” “unit,” “component,” or “system.” Furthermore, aspects of this application may manifest as a computer product located on one or more computer-readable media, the product including computer-readable program code.

[0070] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in a common dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0071] The foregoing description is illustrative of the invention and should not be construed as limiting it. Although several exemplary embodiments of the invention have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the invention. Therefore, all such modifications are intended to be included within the scope of the invention as defined in the claims. It should be understood that the foregoing description is illustrative of the invention and should not be construed as limiting it to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The invention is defined by the claims and their equivalents.

Claims

1. A method for obtaining vehicle speed limit information, characterized in that, include: Obtain the first speed threshold displayed on the speed limit sign from the camera system; Obtain the second speed threshold from the navigation system; The speed limit value is obtained based on the first speed threshold and the second speed threshold.

2. The method for obtaining vehicle speed limit information according to claim 1, characterized in that, Also includes: Calculate the first confidence level with respect to the first speed threshold; Calculate the second confidence level with respect to the second speed threshold; If the first confidence level is greater than the second confidence level, then the first speed threshold is selected as the speed limit value; If the first confidence level is less than the second confidence level, then the second speed threshold is selected as the speed limit value.

3. The method for obtaining vehicle speed limit information according to claim 2, characterized in that, If the first confidence level is equal to the second confidence level, then the first speed threshold is selected as the speed limit value.

4. The method for obtaining vehicle speed limit information according to claim 3, characterized in that, The first confidence level is calculated based on the distance the vehicle travels from the speed limit sign, and the first confidence level is negatively correlated with the distance the vehicle travels from the speed limit sign.

5. The method for obtaining vehicle speed limit information according to claim 4, characterized in that, The first confidence level is 1 when the vehicle is located at the speed limit sign; the first confidence level is 0 when the vehicle moves away from the speed limit sign to the maximum distance.

6. The method for obtaining vehicle speed limit information according to claim 4, characterized in that, The relationship between the first confidence level and the distance the vehicle travels from the speed limit sign is: y = 1 - x / s Where y is the first confidence level, x is the distance the vehicle travels from the speed limit sign, and s is the limit distance.

7. The method for obtaining vehicle speed limit information according to claim 2, characterized in that, The second confidence level is calculated based on road attributes and the second speed threshold.

8. The method for obtaining vehicle speed limit information according to claim 7, characterized in that, The road attribute is one of the following: highway main road, multi-lane, single-lane, roundabout, traffic square, highway branch road / ramp, non-highway branch road / ramp, auxiliary road / adjacent street, parking lot entrance / exit.

9. The method for obtaining vehicle speed limit information according to claim 7, characterized in that, The reliability of the second speed threshold is high when it is close to the speed limit value corresponding to the road attribute; the reliability of the second speed threshold is low when it deviates greatly from the speed limit value corresponding to the road attribute.

10. The method for obtaining vehicle speed limit information according to claim 1, characterized in that, If the navigation system does not output the second speed threshold, the first speed threshold is used as the speed limit value; if the camera system does not output the first speed threshold, the second speed threshold is used as the speed limit value.

11. A vehicle speed limiting system, characterized in that, include: The camera module is configured to acquire the first speed threshold displayed on the speed limit sign; The navigation module is configured to obtain a second speed threshold. The processing module is configured to obtain a speed limit value based on the first speed threshold and the second speed threshold; The control module is configured to enable the vehicle to travel within the speed range specified by the speed limit value.

12. The vehicle speed limiting system according to claim 11, characterized in that, The processing module is also configured to: Calculate the first confidence level with respect to the first speed threshold; Calculate the second confidence level with respect to the second speed threshold; If the first confidence level is greater than the second confidence level, then the first speed threshold is selected as the speed limit value; If the first confidence level is less than the second confidence level, then the second speed threshold is selected as the speed limit value.

13. The vehicle speed limiting system according to claim 11, characterized in that, The processing module includes a processing unit configured to execute the speed limiting method according to any one of claims 1 to 10.

14. A computer program product, characterized in that, It includes computer-readable instructions stored in a computer-readable storage medium, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 10.

15. A vehicle, characterized in that, Including the vehicle speed limiting system according to any one of claims 11 to 13.

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