Speed limit control method and apparatus, and vehicle

Abstract

The present application discloses a speed limit control method and apparatus, and a vehicle. The method comprises: acquiring map speed limit information and visual speed limit information; and then, on the basis of one or more of information such as the current position information of a vehicle, an intent to enter a ramp, the relative position of a road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle, selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle. Thus, the speed limit control method helps improve the accuracy of visual recognition, and has low requirements for computing power.

Description

Speed limit control method and device, and vehicle

[0001] The present application claims priority to the Chinese patent application No. 202411011744.3, filed on July 25, 2024, and entitled "Speed limit control method and device, and vehicle", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicles, and more particularly, to a speed limit control method and device, and vehicle. BACKGROUND

[0003] With the development of intelligent transportation technology, it becomes more and more important to accurately identify speed limit signs. The intelligent speed limit recognition function of domestic passenger cars is now being installed at a higher and higher rate, and is gradually being extended to commercial vehicles.

[0004] In related technologies, the speed limit value can be determined by recognizing the speed limit sign of the road using a camera. However, the current method of recognizing the speed limit sign based on vision has a high error rate and high requirements. SUMMARY

[0005] The present application provides a speed limit control method and device, and vehicle. The various aspects related to the embodiments of the present application are introduced below.

[0006] In a first aspect, a speed limit control method is provided, comprising: obtaining current map data of a vehicle, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign; identifying an on-ramp intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following information: current position information of the vehicle, field of view information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; and selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following information: current position information of the vehicle, the on-ramp intention, relative position between the road speed limit sign and the vehicle, and distance between the road speed limit sign and the vehicle.

[0007] As a possible implementation, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle is close to a ramp, the vehicle is on a main road, and the speed limit sign is located on a non-regulation side or above the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0008] As a possible implementation, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle is close to a ramp, and the speed limit sign is located on a regulation side or above the vehicle, the map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle according to the intention of entering the ramp and the distance between the road speed limit sign and the vehicle.

[0009] As a possible implementation, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle is close to a ramp, the speed limit sign is located on a regulation side or above the vehicle, the intention of entering the ramp is not identified, and the distance between the road speed limit sign and the vehicle is less than a first threshold, the visual speed limit information is selected as the current speed limit information of the vehicle; or if the vehicle is close to a ramp, the speed limit sign is located on a regulation side or above the vehicle, the intention of entering the ramp is identified, and the distance between the road speed limit sign and the vehicle is less than a second threshold, the visual speed limit information is selected as the current speed limit information of the vehicle; wherein the first threshold is less than the second threshold.

[0010] As a possible implementation, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle has entered a ramp, and the speed limit sign is located on a regulation side or above the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle; or if the vehicle has entered a ramp, the speed limit sign is located on a non-regulation side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0011] As a possible implementation manner, before the current speed limit information of the vehicle is selected, the method further comprises: determining a regulation side of the vehicle and a non-regulation side of the vehicle according to the current position information of the vehicle; the regulation side of the vehicle is the right side or the left side of the vehicle, and the non-regulation side of the vehicle is the left side or the right side of the vehicle.

[0012] As a possible implementation manner, the method further comprises: if the speed limit sign is not recognized by the visual sensor of the vehicle, selecting the map speed limit information as the current speed limit information of the vehicle.

[0013] As a possible implementation manner, the map speed limit information comprises one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current position obtained by querying an offline map or an online map.

[0014] In a second aspect, a speed limit control device is provided, comprising: a first acquisition module configured to acquire map data of a vehicle at a current position, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; a second acquisition module configured to acquire visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign; an identification module configured to identify an on-ramp intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following: current position information of the vehicle, visual field information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; and a selection module configured to select the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following: current position information of the vehicle, the on-ramp intention, relative position between the road speed limit sign and the vehicle, and distance between the road speed limit sign and the vehicle.

[0015] In a third aspect, a chip is provided, comprising: a processor configured to invoke and run a computer program from a memory, so that a device installed with the chip performs the method as described in the first aspect.

[0016] In a fourth aspect, a vehicle is provided, comprising a processor and a memory, the memory being configured to store a computer program, and the processor being configured to invoke and run the computer program stored in the memory, so as to control the vehicle to perform the method as described in the first aspect.

[0017] In a fifth aspect, a computer readable storage medium is provided, which stores executable code, when the executable code is executed, the method as described in the first aspect can be implemented.

[0018] The application provides a speed limit control method, comprising: obtaining current map data of a vehicle, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign; identifying a ramp entry intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following information: current position information of the vehicle, visual field information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle and lane change information of the vehicle; and selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following information: current position information of the vehicle, the ramp entry intention, a relative position between the road speed limit sign and the vehicle and a distance between the road speed limit sign and the vehicle. The embodiments of the application utilize simple position information (such as the relative position between the road speed limit sign and the vehicle) and distance information (such as the distance between the road speed limit sign and the vehicle) of the road speed limit sign to assist in identifying or selecting speed limit information of the vehicle, which helps to improve the accuracy of visual identification, and the method has a lower requirement for computing power. BRIEF DESCRIPTION OF DRAWINGS

[0019] FIG. 1 is a flowchart of a speed limit control method according to an embodiment of the application.

[0020] FIG. 2 is a flowchart of a speed limit control method according to another embodiment of the application.

[0021] FIG. 3 is a structural diagram of a vehicle according to an embodiment of the application.

[0022] FIG. 4 is a structural diagram of a speed limit control device according to an embodiment of the application.

[0023] FIG. 5 is a structural diagram of a vehicle according to another embodiment of the application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the application, the technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the application.

[0025] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase“in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all referring to a common or identical embodiment. It is explicitly contemplated that embodiments described herein can be combined with each other, even though not explicitly described or otherwise suggested as being combinable.

[0026] At present, automatic recognition of road speed limit values is gradually becoming a standard feature of vehicles. The intelligent speed limit recognition function is increasingly widely used in domestic passenger vehicles, and commercial vehicles will gradually follow suit. European regulations require that all vehicles exported to Europe need to have an intelligent speed assistance function, and the accuracy of the recognized mileage needs to be greater than 90%. Currently, it is difficult to recognize the ramp by recognizing the two characters“ramp”or the ramp sign, and the recognition accuracy is poor. Secondly, using high computing power to recognize Chinese characters and various symbols on the speed limit sign is costly and not conducive to mass production. In addition, if the Chinese character recognition method is only applicable to domestic use, many countries abroad do not have ramp speed limit signs. If the ramp speed limit sign is not processed, the result will be seen, which will lead to a high error rate in recognition.

[0027] To solve the above problems, the application provides a speed limit control method, which comprises: obtaining current map data of a vehicle, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign; identifying a ramp entry intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following information: current position information of the vehicle, visual field information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; and selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following information: current position information of the vehicle, the ramp entry intention, a relative position between the road speed limit sign and the vehicle, and a distance between the road speed limit sign and the vehicle. The embodiments of the application use the simple position information (such as the relative position between the road speed limit sign and the vehicle) and the distance information (such as the distance between the road speed limit sign and the vehicle) of the road speed limit sign to assist in identifying or selecting the speed limit information of the vehicle, which helps to improve the accuracy of visual recognition, and the method has a lower requirement for computing power.

[0028] The speed limit control method in the embodiments of the application will be described in detail below in combination with FIG. 1. As shown in FIG. 1, the speed limit control method 100 can comprise steps S110-S150.

[0029] In step S110, current map data of a vehicle is obtained, the map data comprising current position information of the vehicle and map speed limit information of the vehicle.

[0030] The map speed limit information includes one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current position queried through an offline map or an online map. The electronic eye speed limit information can be a speed limit value of an electronic eye in front of the vehicle position, and the speed limit information of the vehicle at the current position queried through the offline map or the online map can be road speed limit information on the map.

[0031] For example, the map speed limit information of the vehicle at the current position can be obtained from the map application based on a cross-process communication technology.

[0032] In step S120, the visual speed limit information is obtained, which is speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign.

[0033] For example, the visual sensor can be a camera on the vehicle. One or more visual sensors on the vehicle are used to obtain visual image data in front of the vehicle in real time, recognize a road speed limit sign according to the visual image data, and determine the visual speed limit information according to the recognized road speed limit sign.

[0034] In some embodiments, the above step S110 and step S120 can be exchanged in order or executed simultaneously.

[0035] In step S130, the driving-into-ramp intention of the vehicle is recognized according to first driving information of the vehicle, and the first driving information includes one or more of the following: current position information of the vehicle, visual field information of the vehicle, steering angle information (such as steering wheel steering angle) of the vehicle, turn signal information (such as left turn signal flashing information or right turn signal flashing information) of the vehicle, and lane change information (such as left lane change information or right lane change information of the vehicle, which can be determined according to wheel pressure line conditions of the vehicle) of the vehicle.

[0036] In the embodiments of the present application, the current position of the vehicle can be obtained by a Beidou or GPS positioning system, and the current position of the vehicle can be a position of the vehicle on the road, for example, the vehicle is located on the main road of the road, or the vehicle is located on the ramp of the road; the current position of the vehicle can also be a geographical position of the vehicle, for example, the vehicle is located in China, for example, the vehicle is located in Hong Kong, for example, the vehicle is located in a certain country or region in Europe. The present application does not make specific limitations.

[0037] In the embodiments of the present application, the driving-into-ramp intention of the vehicle can be determined according to more or less information in the first driving information, and the present application does not make specific limitations. For example, if the regulation side is the right side, if the vehicle is near the ramp entrance, the vehicle turns on the right turn signal, and changes lanes to the right or the far right, it is determined that the vehicle has the intention to drive into the ramp.

[0038] For another example, if the regulation side is the left side, if the vehicle is near the ramp entrance, the vehicle turns on the left turn signal, and changes lanes to the left or the leftmost lane, it is determined that the vehicle has the intention to enter the ramp.

[0039] For another example, if the vehicle is near the ramp entrance, and the steering wheel steering angle of the vehicle is greater than 45 degrees, it is determined that the vehicle has the intention to enter the ramp.

[0040] It should be noted that the regulation side in the embodiments of the present application is the driving side determined based on the laws or regulations of the driving area of the vehicle. For example, the vehicle is driving in the inland of China, and the laws or regulations stipulate that the vehicle drives on the right side, so the regulation side of the vehicle is the right side. For another example, the vehicle is driving in Hong Kong, and the laws or regulations stipulate that the vehicle drives on the left side, so the regulation side of the vehicle is the left side. For another example, the vehicle is driving in a certain area of Europe, and the laws or regulations stipulate that the vehicle drives on the left side, so the regulation side of the vehicle is the left side.

[0041] It should be understood that if the regulation side is the left side, the non-regulation side is the right side; if the regulation side is the right side, the non-regulation side is the left side.

[0042] That is, according to the current position information of the vehicle (i.e., the current geographical position, such as the vehicle is in Europe, or the vehicle is in China, etc.), the regulation side of the vehicle and the non-regulation side of the vehicle can be determined; the regulation side of the vehicle is the right side or the left side of the vehicle, and the non-regulation side of the vehicle is the left side or the right side of the vehicle.

[0043] In some implementations, a mapping relationship between the geographical position of the vehicle and the regulation side of the vehicle can be established in advance.

[0044] In some implementations, the field of view information of the vehicle can refer to the field of view information of the front of the vehicle collected by the visual sensor on the vehicle. The field of view information can include speed limit sign information within the field of view of the vehicle, or road information in front of the vehicle, etc.

[0045] In step S140, according to the second driving information of the vehicle, the map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle, and the second driving information includes one or more of the following information: the current position information of the vehicle, the intention to enter the ramp, the relative position between the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

[0046] In some implementations, if the vehicle is near the ramp, the vehicle is on the main road, and the speed limit sign is located on the non-regulation side or above the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0047] Of course, before selecting the current speed limit information of the vehicle, it can be determined whether the vehicle is on the main road according to the map positioning information of the vehicle and the field of view information of the vehicle.

[0048] In some implementations, if the vehicle is approaching a ramp, and the speed limit sign is on the regulation side or in front of the vehicle, the map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle according to the ramp entry intention and the distance between the road speed limit sign and the vehicle.

[0049] As an example, if the vehicle is approaching a ramp, the speed limit sign is on the regulation side or in front of the vehicle, the ramp entry intention is not identified, and the distance between the road speed limit sign and the vehicle is less than a first threshold (e.g., the distance of one lane), the visual speed limit information is selected as the current speed limit information of the vehicle.

[0050] That is, if the vehicle does not have the ramp entry intention, and the speed limit sign on the regulation side or in front is a ramp speed limit sign, the closest distance between the vehicle and the speed limit sign on the regulation side or in front will be greater than or equal to the first threshold. If the distance between the vehicle and the speed limit sign on the regulation side or in front is less than the first threshold, it means that the speed limit sign on the regulation side or in front is a speed limit sign of the main road. Of course, if the distance between the vehicle and the speed limit sign on the regulation side or in front is greater than or equal to the first threshold, the map speed limit information is selected as the current speed limit information of the vehicle.

[0051] As another example, if the vehicle is approaching a ramp, the speed limit sign is on the regulation side or in front of the vehicle, the ramp entry intention is identified, and the distance between the road speed limit sign and the vehicle (e.g., which can be referenced by the center of the vehicle head) is less than a second threshold (e.g., the distance of two lanes), the visual speed limit information is selected as the current speed limit information of the vehicle; wherein the first threshold is less than the second threshold. The first threshold and the second threshold can be set according to requirements.

[0052] That is, if the vehicle has the ramp entry intention, and the speed limit sign on the regulation side or in front is a speed limit sign of the main road, the closest distance between the vehicle and the speed limit sign on the regulation side or in front will be greater than or equal to the second threshold. If the distance between the vehicle and the speed limit sign on the regulation side or in front is less than the second threshold, it means that the speed limit sign on the regulation side or in front is a speed limit sign of the ramp. Of course, if the distance between the vehicle and the speed limit sign on the regulation side or in front is greater than or equal to the second threshold, the map speed limit information is selected as the current speed limit information of the vehicle.

[0053] In some implementations, if the vehicle has entered the ramp, and the speed limit sign is on the regulation side or in front of the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0054] In some implementations, if the vehicle has entered the ramp, the speed limit sign is located on the illegal side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0055] That is, if the vehicle has entered the ramp, and the illegal side road speed limit sign is the speed limit sign of the main road, the closest distance between the vehicle and the illegal side road speed limit sign will be greater than or equal to the third threshold. If the distance between the vehicle and the illegal side road speed limit sign is less than the third threshold, it means that the illegal side road speed limit sign is the speed limit sign of the ramp. Of course, if the distance between the vehicle and the illegal side road speed limit sign is greater than or equal to the third threshold, the map speed limit information is selected as the current speed limit information of the vehicle. The third threshold can be set according to requirements, and the present application does not make specific limitations thereto.

[0056] In some implementations, if the vehicle's visual sensor does not recognize the speed limit sign, the map speed limit information is selected as the current speed limit information of the vehicle.

[0057] It should be noted that the front upper side of the vehicle, the legal side of the vehicle, and the illegal side of the vehicle in the embodiments of the present application are all with reference to the driving direction of the vehicle. For example, the speed limit sign located in the front upper side of the vehicle can mean that in the driving direction of the vehicle, the speed limit sign is located in the front upper side of the vehicle. For another example, the speed limit sign located on the legal side of the vehicle can mean that in the driving direction of the vehicle, the speed limit sign is located on the legal side of the vehicle. For another example, the speed limit sign located on the illegal side of the vehicle can mean that in the driving direction of the vehicle, the speed limit sign is located on the illegal side of the vehicle.

[0058] The embodiments of the present application will be described in more detail below with reference to specific examples. In the following examples, FIG. 2 is only to help those skilled in the art to understand the embodiments of the present application, and is not intended to limit the embodiments of the present application to the specific values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0059] FIG. 2 is another speed limit control method provided by the embodiments of the present application, see FIG. 2, which can include the following steps: S201-S211. It should be noted that the speed limit control method in FIG. 2 is illustrated with the legal side as the right side.

[0060] In step S201, it is determined whether a road speed limit sign is detected. For example, the road speed limit sign (which can also be referred to as a speed limit sign) can be identified through the field of view information of the vehicle. If the speed limit sign is identified, jump to step S203; if the speed limit sign is not identified, jump to step S202.

[0061] At step S202: determine whether the map speed limit information (may be referred to as map speed limit for short) changes, if the map speed limit changes, jump to step S211; if the map speed limit does not change, jump to step S208.

[0062] At step S203: determine whether the vehicle is near a ramp. If the vehicle is not near a ramp, jump to step S206; if the vehicle is near a ramp, jump to step S204.

[0063] At step S204: determine whether the vehicle has entered the ramp. If the vehicle has not entered the ramp, jump to step S205; if the vehicle has entered the ramp, jump to step S209.

[0064] At step S205: determine the position of the speed limit sign. If the speed limit sign is on the left or top of the vehicle, jump to step S206; if the speed limit sign is on the right of the vehicle, jump to step S207.

[0065] At step S206: the current speed limit of the vehicle is updated to the speed limit of the speed limit sign.

[0066] At step S207: determine the intention of the vehicle to enter the ramp, and the distance between the vehicle and the speed limit sign.

[0067] If the conditions are met (no intention to enter the ramp is recognized, and the distance between the speed limit sign and the vehicle is less than a first threshold value; or, the intention to enter the ramp is recognized, and the distance between the speed limit sign and the vehicle is less than a second threshold value), jump to step S206. If the conditions are not met (no intention to enter the ramp is recognized, and the distance between the speed limit sign and the vehicle is greater than or equal to the first threshold value; or, the intention to enter the ramp is recognized, and the distance between the speed limit sign and the vehicle is greater than or equal to the second threshold value), jump to step S208.

[0068] At step S208: the vehicle does not update the current speed limit information.

[0069] At step S209: determine the position of the speed limit sign. If the speed limit sign is on the right or top of the vehicle, jump to step S206; if the speed limit sign is on the left of the vehicle, jump to step S210.

[0070] At step S210: determine the distance between the vehicle and the speed limit sign.

[0071] If the condition is met (the distance between the speed limit sign and the vehicle is less than a third threshold value), jump to step S206; if the condition is not met (the distance between the speed limit sign and the vehicle is greater than or equal to the third threshold value), jump to step S211.

[0072] An embodiment of the present application further provides a vehicle, referring to FIG. 3, the vehicle can include a controller 310, a visual sensor 320, a map information processing module 330 and an antenna 340.

[0073] The controller 310 is mainly used for logical judgment and data processing. The visual sensor 320 (such as a camera) is mainly used for collecting image data. The image data processing is mainly completed in the controller 310. For example, the controller 310 can be used to receive the image data (such as the image data of the speed limit sign) collected by the visual sensor 320, and the controller 310 can be used to process the above-mentioned image data to obtain the speed limit value of the speed limit sign and the distance information between the vehicle and the speed limit sign. The controller 310 can send an instruction to the whole vehicle to display the current speed limit information of the vehicle. The instruction may, for example, be an instruction to update the speed limit information of the vehicle to the speed limit information of the speed limit sign. The antenna 340 is arranged on the map information processing module 330, and the antenna 340 can communicate with the satellite to realize real-time positioning of the vehicle. The map information processing module 330 can be used to obtain the driving map information of the vehicle according to the current position of the vehicle. The map information processing module 330 may, for example, be a display screen or a central control screen, and the present application does not make a specific limitation in this regard.

[0074] The present application does not make a specific limitation on the communication mode between the map information processing module 330 and the controller 310. For example, the map information processing module 330 and the controller 310 can communicate through a serial port; for another example, the map information processing module 330 and the controller 310 can also communicate through a CAN bus. The controller 310 and the vehicle system can communicate through a CAN bus. In some implementations, the controller 310 can further include a microprocessor 311 to relieve the processing pressure of the processor 310.

[0075] The method embodiments of the present application are described in detail above in combination with FIGS. 1 to 3, and the device embodiments of the present application are described in detail below in combination with FIGS. 4 to 5. It should be understood that the description of the method embodiments and the description of the device embodiments correspond to each other, and therefore, the parts not described in detail can be referred to the foregoing method embodiments.

[0076] FIG. 4 shows a structural schematic diagram of a speed limit control device provided by an embodiment of the present application. The speed limit control device 400 can include a first obtaining module 410, a second obtaining module 420, an identifying module 430 and a selecting module 440.

[0077] The first obtaining module 410 is configured to obtain the current map data of the vehicle, and the map data includes the current position information of the vehicle and the map speed limit information of the vehicle.

[0078] The second obtaining module 420 is configured to obtain visual speed limit information, and the visual speed limit information is the speed limit information obtained by the visual sensor of the vehicle identifying the road speed limit sign.

[0079] The identification module 430 is configured to identify a ramp entry intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following: current position information of the vehicle, visual field information of the vehicle, steering angle information of the vehicle, steering light information of the vehicle, and lane change information of the vehicle.

[0080] The selection module 440 is configured to select the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following: current position information of the vehicle, the ramp entry intention, relative position between the road speed limit sign and the vehicle, and distance between the road speed limit sign and the vehicle.

[0081] Optionally, the selection module 440 is configured to select the visual speed limit information as the current speed limit information of the vehicle if the vehicle is close to a ramp, the vehicle is on a main lane, and the speed limit sign is located on a non-regulation side or above the vehicle.

[0082] Optionally, the selection module 440 is configured to select the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the ramp entry intention and the distance between the road speed limit sign and the vehicle if the vehicle is close to a ramp, and the speed limit sign is located on a regulation side or above the vehicle.

[0083] Optionally, the selection module 440 is configured to select the visual speed limit information as the current speed limit information of the vehicle if the vehicle is close to a ramp, the speed limit sign is located on a regulation side or above the vehicle, the ramp entry intention is not identified, and the distance between the road speed limit sign and the vehicle is less than a first threshold; or select the visual speed limit information as the current speed limit information of the vehicle if the vehicle is close to a ramp, the speed limit sign is located on a regulation side or above the vehicle, the ramp entry intention is identified, and the distance between the road speed limit sign and the vehicle is less than a second threshold; wherein the first threshold is less than the second threshold.

[0084] Optionally, the selecting module 440 is configured to: if the vehicle has entered a ramp and the speed limit sign is located on the regulation side of the vehicle or above the front of the vehicle, select the visual speed limit information as the current speed limit information of the vehicle; or if the vehicle has entered a ramp, the speed limit sign is located on the non-regulation side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, select the visual speed limit information as the current speed limit information of the vehicle.

[0085] Optionally, the apparatus 400 further includes a determining module configured to determine the regulation side of the vehicle and the non-regulation side of the vehicle according to the current position information of the vehicle before selecting the current speed limit information of the vehicle; the regulation side of the vehicle is the right side or the left side of the vehicle, and the non-regulation side of the vehicle is the left side or the right side of the vehicle.

[0086] Optionally, the apparatus 400 further includes a second selecting module configured to select the map speed limit information as the current speed limit information of the vehicle if the speed limit sign is not recognized by the visual sensor of the vehicle.

[0087] Optionally, the map speed limit information includes one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current position queried by an offline map or an online map.

[0088] The vehicle 500 is described below in combination with FIG. 5. The vehicle 500 can be used to implement the methods described in the foregoing method embodiments.

[0089] The vehicle 500 can include one or more processors 510. The processor 510 can support the vehicle 500 to implement the methods described in the foregoing method embodiments.

[0090] The processor 510 can be a general purpose processor or a special purpose processor. For example, the processor can be a central processing unit (CPU). Alternatively, the processor can also be other general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0091] The vehicle 500 can further include one or more memories 520. The memories 520 store programs, which can be executed by the processor 510 to control the vehicle 500 to perform the methods described in the foregoing method embodiments. The memories 520 can be independent of the processor 510 or integrated in the processor 510.

[0092] The vehicle 500 can further include a transceiver 530. The processor 510 can communicate with other devices through the transceiver 530. For example, the processor 510 can transceive data with other devices through the transceiver 530.

[0093] The embodiments of the present application also provide a chip including a processor. The processor can be used to call and run a computer program from a memory, so that a vehicle installed with the chip performs the methods described in the foregoing method embodiments. It can be understood that the processor can be any of the processors mentioned above. It can be understood that the memory can be independent of the chip or integrated in the chip.

[0094] The embodiments of the present application also provide a machine readable storage medium for storing a program. The program causes a computer to perform the methods in the embodiments of the present application.

[0095] The embodiments of the present application also provide a computer program product. The computer program product includes a program. The program causes a computer to perform the methods in the embodiments of the present application.

[0096] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product storing computer program instructions. When the computer program instructions are loaded into and executed by a computer, all or some of the procedures or functions according to the embodiments of the present disclosure are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer program instructions can be stored in a machine-readable storage medium or transmitted from one machine-readable storage medium to another, for example, the computer program instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The machine-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0097] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments of the present disclosure can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0098] In several embodiments provided by the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are merely schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0100] In addition, each functional unit in various embodiments of the present disclosure can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0101] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A speed limit control method characterized by, The method comprises: obtaining current map data of the vehicle, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign; identifying an on-ramp intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following information: current position information of the vehicle, visual field information of the vehicle, steering angle information of the vehicle, steering light information of the vehicle, and lane change information of the vehicle; selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following information: current position information of the vehicle, the on-ramp intention, relative position between the road speed limit sign and the vehicle, and distance between the road speed limit sign and the vehicle.

2. The method of claim 1, wherein, The selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle is close to an on-ramp, the vehicle is on a main road, and the speed limit sign is located on a non-regulation side or above the vehicle, selecting the visual speed limit information as the current speed limit information of the vehicle.

3. The method of claim 1, wherein, The selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle is close to an on-ramp, and the speed limit sign is located on a regulation side or above the vehicle, selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the on-ramp intention and the distance between the road speed limit sign and the vehicle.

4. The method of claim 3, wherein, The selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle is close to an on-ramp, the speed limit sign is located on a regulation side or above the vehicle, the on-ramp intention is not identified, and the distance between the road speed limit sign and the vehicle is less than a first threshold, selecting the visual speed limit information as the current speed limit information of the vehicle; or if the vehicle is close to an on-ramp, the speed limit sign is located on a regulation side or above the vehicle, the on-ramp intention is identified, and the distance between the road speed limit sign and the vehicle is less than a second threshold, selecting the visual speed limit information as the current speed limit information of the vehicle; wherein the first threshold is less than the second threshold.

5. The method of claim 1, wherein, The selecting the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to the second driving information of the vehicle comprises: if the vehicle has entered an on-ramp, and the speed limit sign is located on a regulation side or above the vehicle, selecting the visual speed limit information as the current speed limit information of the vehicle; or If the vehicle has entered a ramp, the speed limit sign is located on a non-regulation side of the vehicle, and a distance between the road speed limit sign and the vehicle is less than a third threshold, the visual speed limit information is selected as the current speed limit information of the vehicle.

6. The method of claim 2, wherein, Before selecting the current speed limit information of the vehicle, the method further comprises: determining a regulation side of the vehicle and a non-regulation side of the vehicle according to the current position information of the vehicle; the regulation side of the vehicle is a right side or a left side of the vehicle, and the non-regulation side of the vehicle is a left side or a right side of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: if the speed limit sign is not recognized by the visual sensor of the vehicle, selecting the map speed limit information as the current speed limit information of the vehicle.

8. The method according to any one of claims 1-6, characterized in that, The map speed limit information comprises one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current position obtained by querying an offline map or an online map.

9. A speed limit control device characterized by comprising: comprises: a first acquisition module configured to acquire current map data of a vehicle, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; a second acquisition module configured to acquire visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle recognizing a road speed limit sign; an identification module configured to identify an entering-ramp intention of the vehicle according to first driving information of the vehicle, the first driving information comprising one or more of the following information: current position information of the vehicle, visual field information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane changing information of the vehicle; a selection module configured to select the map speed limit information or the visual speed limit information as current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following information: current position information of the vehicle, the entering-ramp intention, a relative position between the road speed limit sign and the vehicle, and a distance between the road speed limit sign and the vehicle.

10. A vehicle characterized by comprising: comprises: a processor and a memory, the memory being configured to store a computer program, and the processor being configured to invoke and run the computer program stored in the memory to control the vehicle to perform the method according to any one of claims 1-8.

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