Speed adjustment method and apparatus for memory pilot, and electronic device

Abstract

A speed adjustment method and apparatus for a memory pilot, and an electronic device, which belong to the technical field of autonomous driving. The method comprises: by means of the real-time position of a vehicle and full-route map data of a memory pilot, obtaining a current road segment, a first road segment and a second road segment for the vehicle, wherein each road segment comprises the number of lanes and the length of the road segment, the first road segment is the next road segment after the current road segment, the second road segment is the next road segment after the first road segment, and the second road segment may be null; and on the basis of the current road segment, the first road segment and the second road segment, determining the traveling speed of the vehicle in the first road segment. The traveling speed in the next road segment is adjusted by means of the number of lanes in a road segment, such that the traffic efficiency of the memory pilot is improved, and potential safety hazards caused by a fixed vehicle speed are effectively avoided, thereby improving the user experience of using a memory pilot.

Description

A speed regulation method, device, and electronic equipment for memory-guided navigation. Technical Field

[0001] This invention belongs to the field of autonomous driving technology, specifically relating to a speed adjustment method, device, and electronic device for memory-based navigation. Background Technology

[0002] With increasingly congested urban traffic, advanced driver assistance technologies (ADAS) are gradually becoming an important means of solving traffic problems, such as navigation memory. However, in urban roads, due to differences in road type, number of lanes, road length, and other factors, the vehicle's speed needs to be adjusted accordingly during navigation memory operation. Traditional navigation memory systems typically use fixed speed limits and cannot automatically adjust speed based on road type and number of lanes. This can lead to safety hazards due to excessive speed or inefficiency due to insufficient speed, resulting in a poor user experience when using navigation memory.

[0003] Memory Navigation is a vehicle-assistance technology that enables automatic parking and stopping at the designated location. This feature combines Memory Navigation and Memory Parking technologies, allowing the vehicle to autonomously navigate pre-set routes and locations, including signaling, lane changing, overtaking, and passing oncoming traffic. For example, in cold winter weather, users can pre-activate the car's heater using their mobile phones. After getting in, simply activating Memory Navigation will automatically guide the vehicle out of the parking space, follow the memorized route to the office, and automatically park in the memorized spot, requiring no user intervention. Summary of the Invention

[0004] To address this issue, the present invention provides a speed adjustment method, device, and electronic device for memory navigation, in order to solve the problem that existing memory navigation systems typically use fixed speed limits and cannot automatically adjust speed according to road type and number of roads, which can easily lead to safety hazards or low efficiency during vehicle operation and result in a poor assisted driving experience.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a speed adjustment method for memory-based navigation, comprising:

[0007] Acquire the vehicle's real-time location and the full-range map data of the navigation system; the full-range map data includes at least two road segments;

[0008] Based on the vehicle's real-time location and the full-process map data, the vehicle's current road segment, first road segment, and second road segment are obtained; the first road segment is the next road segment after the current road segment; the second road segment is the next road segment after the first road segment; the second road segment can be empty;

[0009] The vehicle's speed on the first road segment is determined based on the current road segment, the first road segment, and the second road segment.

[0010] Further, the road segment includes the number of lanes and the road segment length; determining the vehicle's speed on the first road segment based on the preset speed range, the current road segment, the first road segment, and the second road segment includes:

[0011] If the length of the first road segment is greater than or equal to the first preset length, then the number of lanes in the first road segment shall be used as the target number of lanes.

[0012] If the length of the first road segment is less than the first preset length but greater than or equal to the second preset length, then the target number of lanes is determined based on the first road segment and the current road segment.

[0013] If the length of the first road segment is less than the second preset length, then the target number of lanes is determined based on the current road segment and the second road segment;

[0014] The vehicle's speed on the first road segment is determined based on the target number of lanes and a preset speed range; the preset speed range includes speed ranges corresponding to different numbers of lanes.

[0015] Further, determining the target number of lanes based on the first road segment and the current road segment includes:

[0016] If the absolute value of the difference between the number of lanes in the first road segment and the number of lanes in the current road segment is greater than or equal to 2, then the number of lanes in the first road segment is the target number of lanes.

[0017] If the absolute value of the difference between the number of lanes in the first road segment and the number of lanes in the current road segment is less than 2, then the number of lanes in the current road segment is the target number of lanes.

[0018] Further, determining the target number of lanes based on the current road segment and the second road segment includes:

[0019] If the number of lanes in the second road segment is empty, then the number of lanes in the current road segment is the target number of lanes;

[0020] If the number of lanes in the second road segment is not empty, then the number of lanes in the second road segment is divided by the number of lanes in the current road segment to obtain the number of lanes to be determined; if the number of lanes to be determined is an integer, then the number of lanes to be determined is the target number of lanes; if the number of lanes to be determined is a decimal, then the integer part of the decimal is taken as the target number of lanes; if the decimal has no integer part, then the number of lanes in the current road segment is the target number of lanes.

[0021] Furthermore, the preset speed range includes:

[0022] When there is 1 lane, the driving speed range is 30-40 kph;

[0023] When there are 2 lanes, the driving speed range is 40-50 kph;

[0024] When there are 3 lanes, the driving speed range is 50-60 kph;

[0025] When the number of lanes is greater than or equal to 4, the driving speed range is from 60 kph to the current maximum speed limit of the road segment.

[0026] Furthermore, the first preset length can be set according to the specific driving environment, and the length setting range of the first preset length is 250-300m.

[0027] Furthermore, the second preset length can be set according to the specific driving environment, and the length setting range of the first preset length is 100-150m.

[0028] Secondly, the present invention provides a speed control device for memory navigation, comprising:

[0029] The acquisition module is used to acquire the vehicle's real-time location and the full-process map data of the navigation memory; the full-process map data includes at least two road segments; the road segments include the number of lanes and the length of the road segment.

[0030] The road segment module is used to obtain the vehicle's current road segment, first road segment, and second road segment based on the vehicle's real-time location and the map data; the first road segment is the next road segment after the current road segment; the second road segment is the next road segment after the first road segment; the second road segment can be empty;

[0031] The speed control module is used to determine the vehicle's speed on the first road segment based on the current road segment, the first road segment, and the second road segment.

[0032] Thirdly, the present invention provides an electronic device, comprising:

[0033] At least one processor; and

[0034] A memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform any of the memory-guided speed adjustment methods described above.

[0036] The present invention, by adopting the above technical solution, has at least the following beneficial effects:

[0037] A method, device, and electronic device for adjusting speed using memory navigation are provided. The system obtains the vehicle's current road segment, first road segment, and second road segment using real-time vehicle location and full-process map data from the memory navigation system. Each road segment includes the number of lanes and its length. The first road segment is the next road segment after the current one, and the second road segment is the next road segment after the first one. The second road segment can be empty. The vehicle's speed in the first road segment is determined based on the current road segment, the first road segment, and the second road segment. The speed in the next road segment is adjusted according to the number of lanes in the current road segment, improving the efficiency of memory navigation while effectively avoiding safety hazards caused by fixed speeds and enhancing the user experience of using memory navigation.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 is a flowchart illustrating a speed adjustment method based on memory navigation in an exemplary embodiment of the present invention;

[0041] Figure 2 is a flowchart illustrating a speed adjustment method based on memory navigation, as shown in another exemplary embodiment of the present invention;

[0042] Figure 3 is a schematic block diagram of a memory navigation speed regulation device according to an exemplary embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of an electronic device according to an exemplary embodiment of the present invention.

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0046] With increasingly congested urban traffic, advanced driver assistance systems (ADAS) are gradually becoming an important means of solving traffic problems. However, in urban roads, due to differences in road type, number of lanes, road length, and other factors, vehicle speed needs to be adjusted accordingly. Traditional ADAS systems typically use fixed speed limits and cannot automatically adjust speed based on road type and number of roads. This can lead to safety hazards or inefficiency during driving, failing to provide a satisfactory ADAS experience.

[0047] This invention provides a speed adjustment method, device, and electronic device for memory-based navigation. By adjusting the speed of the next road segment based on the number of roads in the current segment, the efficiency of memory-based navigation is improved, while effectively avoiding safety hazards caused by fixed speeds, thus enhancing the user experience. Furthermore, the speed adjustment rules in the method filter out short intersections and intersections with indistinct lane changes, improving the smoothness of the memory-based navigation speed.

[0048] The methods and apparatus of the present invention will be described below through specific embodiments.

[0049] Please refer to Figure 1, which is a flowchart illustrating a speed adjustment method for memory navigation according to an exemplary embodiment of the present invention. Referring to Figure 1, the method includes:

[0050] Step S11: Obtain the vehicle's real-time location and the full-route map data for navigation; the full-route map data includes at least two road segments; each road segment includes the number of lanes and the segment length;

[0051] Step S12: Based on the vehicle's real-time location and full-process map data, obtain the vehicle's current road segment, first road segment, and second road segment; the first road segment is the next road segment after the current road segment; the second road segment is the next road segment after the first road segment; the second road segment can be empty;

[0052] Step S13: Determine the vehicle's speed on the first road segment based on the current road segment, the first road segment, and the second road segment.

[0053] It should be noted that the technical solution provided in this embodiment can be used in practice as a mini-program or a plugin within an existing memory navigation system or application, or as a standalone application that implements speed adjustment functionality through an external interface. Applicable scenarios include, but are not limited to, memory navigation and other application scenarios that require adjusting driving speed based on the number of roads.

[0054] Specifically, road segments are divided by the number of lanes, which can be single-lane, two-lane, three-lane, and four-lane or more; the entire map data must contain at least the current road segment and the first road segment; the second road segment is generally empty before reaching the destination.

[0055] It should be noted that the existing memory navigation system includes advanced driver assistance sensors and controllers. The controller can run and store key data such as driver assistance function algorithms, operation data, and map data. The sensors can perceive and collect road environment data, generate high-precision maps that driver assistance can identify and locate, and can transmit road data parsing to the decision planning module. The parsed road data should include key high-precision map information such as road topology, quantity, length, and width.

[0056] It should be noted that the existing memory navigation system also needs to integrate with existing map data acquisition and processing algorithms, high-precision positioning processing software, decision planning algorithms, and other key assisted driving algorithms. The map acquisition and processing algorithm can collect and process high-precision maps based on the driver's route, generate and store high-precision maps that can be read and located by the assisted driving system, and call upon the map data when the driver initiates the function to provide a basis for memory navigation. The high-precision positioning capability can match the current location of the vehicle when the driver enters the memory map and can update the positioning data according to the time delay required by the system to achieve dynamic positioning. The decision planning algorithm and other key assisted driving algorithms enable the assisted driving system to make decisions and plans based on map data, perception data, and other assisted driving information, and execute the speed adjustment method of memory navigation based on urban roads. The speed adjustment system can adjust the speed of memory navigation in real time according to road information.

[0057] It is understood that the method provided in this embodiment obtains the vehicle's current road segment, first road segment, and second road segment through the vehicle's real-time location and the full-process map data of the memory navigation. The road segment includes the number of lanes and the road segment length; the first road segment is the next road segment after the current road segment; the second road segment is the next road segment after the first road segment; the second road segment can be empty; the vehicle's driving speed in the first road segment is determined based on the current road segment, the first road segment, and the second road segment; the driving speed in the next road segment is adjusted according to the number of roads in the road segment, thereby improving the traffic efficiency of memory navigation and effectively avoiding safety hazards caused by fixed vehicle speed, thus improving the user experience of using memory navigation.

[0058] In practice, step S12, "determining the vehicle's speed on the first road segment based on the preset speed range, the current road segment, the first road segment, and the second road segment," includes: if the length of the first road segment is greater than or equal to the first preset length, then the number of lanes in the first road segment is used as the target number of lanes; if the length of the first road segment is less than the first preset length but greater than or equal to the second preset length, then the target number of lanes is determined based on the first road segment and the current road segment; if the length of the first road segment is less than the second preset length, then the target number of lanes is determined based on the current road segment and the second road segment; the vehicle's speed on the first road segment is determined based on the target number of lanes and the preset speed range; the preset speed range includes speed ranges corresponding to different numbers of lanes.

[0059] Specifically, the preset speed ranges include: when there is 1 lane, the speed range is 30-40 kph; when there are 2 lanes, the speed range is 40-50 kph; when there are 3 lanes, the speed range is 50-60 kph; and when there are 4 or more lanes, the speed range is from 60 kph to the current road segment's maximum speed limit.

[0060] It should be noted that the first preset length can be set according to the specific driving environment, and the length setting range of the first preset length is 250-300m; the second preset length can be set according to the specific driving environment, and the length setting range of the first preset length is 100-150m.

[0061] Specifically, the target number of lanes is determined based on the first road segment and the current road segment, including: if the absolute value of the difference between the number of lanes in the first road segment and the number of lanes in the current road segment is greater than or equal to 2, then the number of lanes in the first road segment is the target number of lanes; if the absolute value of the difference between the number of lanes in the first road segment and the number of lanes in the current road segment is less than 2, then the number of lanes in the current road segment is the target number of lanes.

[0062] Specifically, the target number of lanes is determined based on the current road segment and the second road segment, including: if the number of lanes in the second road segment is empty, then the number of lanes in the current road segment is the target number of lanes; if the number of lanes in the second road segment is not empty, then the number of lanes in the second road segment is divided by the number of lanes in the current road segment to obtain the number of lanes to be determined; if the number of lanes to be determined is an integer, then the number of lanes to be determined is the target number of lanes; if the number of lanes to be determined is a decimal, then the integer part of the decimal is taken as the target number of lanes; if the decimal has no integer part, then the number of lanes in the current road segment is the target number of lanes.

[0063] It is understood that the technical solution provided in this embodiment improves the smoothness of memory navigation speed by filtering short intersections and intersections with insignificant lane changes through speed regulation rules in the speed regulation method.

[0064] Please refer to Figure 2, which is a flowchart illustrating a speed adjustment method for memory navigation according to another exemplary embodiment of the present invention. Referring to Figure 2, the method includes:

[0065] Step S21: Smooth speed adjustment begins;

[0066] Step S22: If the length of link2 is less than 100m, then the number of roads in link2 is equal to the number of roads in link3 divided by the number of roads in link1. The rounded number is used as the number of lanes, and the corresponding speed is obtained from the preset speed range as the speed of the next road segment.

[0067] If the length of the road segment 100m ≤ link2 < 200m, and |number of lanes in link2 - number of lanes in link1| ≥ 2, the speed is determined from the preset speed range based on the number of lanes in link2, and is used as the speed for the next road segment; if the length of the road segment 100m ≤ link2 < 200m, and |number of lanes in link2 - number of lanes in link1| < 2, the speed is determined from the preset speed range based on the number of lanes in link1, and is used as the speed for the next road segment.

[0068] If the length of link2 is ≥ 200m, then the speed of the next segment will be determined from the preset speed range based on the number of lanes in link2.

[0069] It should be noted that "link" is the unit of road segmentation, that is, "link" represents a road segment; "link1" is the current road segment, "link2" is the next road segment, and "lnk3" is the next two road segments; smooth speed adjustment mainly adjusts the speed of "link2".

[0070] It is understandable that the method provided in this embodiment adjusts the driving speed of the next road segment by the number of roads in the road segment, thereby improving the traffic efficiency of memory navigation, while effectively avoiding safety hazards caused by fixed speeds and improving the user experience of using memory navigation.

[0071] Please refer to Figure 3, which is a schematic block diagram of a memory navigation speed regulation device according to an exemplary embodiment of the present invention. Referring to Figure 3, the memory navigation speed regulation device 100 includes:

[0072] The acquisition module 101 is used to acquire the real-time location of the vehicle and the full-process map data of the navigation memory; the full-process map data includes at least two road segments; the road segments include the number of lanes and the length of the road segment.

[0073] The road segment module 102 is used to obtain the vehicle's current road segment, first road segment, and second road segment based on the vehicle's real-time location and map data; the first road segment is the next road segment after the current road segment; the second road segment is the next road segment after the first road segment; the second road segment can be empty;

[0074] Speed ​​control module 103 is used to determine the vehicle's speed on the first road segment based on the current road segment, the first road segment, and the second road segment.

[0075] It should be noted that the device provided in this embodiment is applicable to scenarios including but not limited to: memory navigation and other application scenarios that require adjusting driving speed based on the number of roads.

[0076] In practice, road segments are divided by the number of lanes, which can be single-lane, two-lane, three-lane, and four-lane or more; the full map data must contain at least the current road segment and the first road segment; the second road segment is usually empty before reaching the destination.

[0077] It is understood that the device provided in this embodiment obtains the vehicle's current road segment, first road segment, and second road segment through the vehicle's real-time location and the full-process map data of the memory navigation. The road segment includes the number of lanes and the road segment length; the first road segment is the next road segment after the current road segment; the second road segment is the next road segment after the first road segment; the second road segment can be empty; the vehicle's driving speed in the first road segment is determined based on the current road segment, the first road segment, and the second road segment; the driving speed in the next road segment is adjusted according to the number of roads in the road segment, thereby improving the traffic efficiency of memory navigation and effectively avoiding safety hazards caused by fixed vehicle speed, thus improving the user experience of using memory navigation.

[0078] Please refer to Figure 4, which is a schematic diagram of an electronic device according to an exemplary embodiment of the present invention. Referring to Figure 4, the electronic device 200 includes: at least one processor 202; and

[0079] Memory 201 is communicatively connected to at least one processor 202; wherein,

[0080] The memory 201 stores instructions that can be executed by at least one processor 202, which, when executed by at least one processor 202, enable at least one processor 202 to perform any of the above-described memory-guided speed adjustment methods.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A speed adjustment method based on memory navigation, characterized in that, include: Acquire real-time vehicle location and remember full-process map data for navigation; The full-process map data includes at least two road segments; each road segment includes the number of lanes and the length of the road segment. Based on the vehicle's real-time location and the full-process map data, the vehicle's current road segment, first road segment, and second road segment are obtained; The first road segment is the next road segment after the current road segment; The second road segment is the next road segment after the first road segment; The second segment can be empty; The vehicle's speed on the first road segment is determined based on the current road segment, the first road segment, and the second road segment.

2. The speed regulation method according to claim 1, characterized in that, Determining the vehicle's speed on the first road segment based on the preset speed range, the current road segment, the first road segment, and the second road segment includes: If the length of the first road segment is greater than or equal to the first preset length, then the number of lanes in the first road segment shall be used as the target number of lanes. If the length of the first road segment is less than the first preset length but greater than or equal to the second preset length, then the target number of lanes is determined based on the first road segment and the current road segment. If the length of the first road segment is less than the second preset length, then the target number of lanes is determined based on the current road segment and the second road segment; The vehicle's speed on the first road segment is determined based on the target number of lanes and a preset speed range; the preset speed range includes speed ranges corresponding to different numbers of lanes.

3. The speed regulation method according to claim 2, characterized in that, Determining the target number of lanes based on the first road segment and the current road segment includes: If the absolute value of the difference between the number of lanes in the first road segment and the number of lanes in the current road segment is greater than or equal to 2, then the number of lanes in the first road segment is the target number of lanes. If the absolute value of the difference between the number of lanes in the first road segment and the number of lanes in the current road segment is less than 2, then the number of lanes in the current road segment is the target number of lanes.

4. The speed regulation method according to claim 2, characterized in that, Determining the target number of lanes based on the current road segment and the second road segment includes: If the number of lanes in the second road segment is empty, then the number of lanes in the current road segment is the target number of lanes; If the number of lanes in the second road segment is not empty, then the number of lanes in the second road segment is divided by the number of lanes in the current road segment to obtain the number of lanes to be determined; if the number of lanes to be determined is an integer, then the number of lanes to be determined is the target number of lanes; if the number of lanes to be determined is a decimal, then the integer part of the decimal is taken as the target number of lanes; if the decimal has no integer part, then the number of lanes in the current road segment is the target number of lanes.

5. The speed regulation method according to claim 2, characterized in that, The preset speed range includes: When there is 1 lane, the driving speed range is 30-40 kph; When there are 2 lanes, the driving speed range is 40-50 kph; When there are 3 lanes, the driving speed range is 50-60 kph; When the number of lanes is greater than or equal to 4, the driving speed range is from 60 kph to the current maximum speed limit of the road segment.

6. The speed regulation method according to claim 2, characterized in that, The first preset length can be set according to the specific driving environment, and the length setting range of the first preset length is 250-300m.

7. The speed regulation method according to claim 2, characterized in that, The second preset length can be set according to the specific driving environment, and the length setting range of the first preset length is 100-150m.

8. A speed control device for memory navigation, characterized in that, include: The acquisition module is used to acquire the vehicle's real-time location and the full-process map data for navigation. The full-process map data includes at least two road segments; each road segment includes the number of lanes and the length of the road segment. The road segment module is used to obtain the vehicle's current road segment, first road segment, and second road segment based on the vehicle's real-time location and the map data. The first road segment is the next road segment after the current road segment; The second road segment is the next road segment after the first road segment; The second segment can be empty; The speed control module is used to determine the vehicle's speed on the first road segment based on the current road segment, the first road segment, and the second road segment.

9. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

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