Intelligent speed limiting method and system based on navigation route, storage medium, and electronic device

Abstract

The present invention provides an intelligent speed limiting method and system based on a navigation route, a storage medium, and an electronic device. The method comprises the following steps: acquiring navigation route information; performing coordinate system conversion on the navigation route information; on the basis of the converted navigation route information, calculating the radius corresponding to any discrete point on a navigation route and the distance from the discrete point to a navigation starting point; acquiring current position information of a vehicle; calculating point-interval positioning of the vehicle on the navigation route on the basis of the current position information of the vehicle; calculating the radius of the vehicle on the navigation route on the basis of the point-interval positioning; and performing speed limiting on the vehicle on the basis of the radius of the vehicle on the navigation route. The intelligent speed limiting method and system based on a navigation route, the storage medium, and the electronic device of the present invention provide an intelligent speed limiting method that can enable the vehicle to improve the cornering capability of the vehicle only on the basis of a navigation map and a vehicle-mounted sensing system, even without a high-precision map.

Description

Navigation line-based intelligent speed limiting method, system, storage medium and electronic device TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic driving, and particularly relates to a navigation line-based intelligent speed limiting method, system, storage medium and electronic device. BACKGROUND

[0002] With the continuous development of the global automobile industry, the electrification and intelligentization technology of vehicles has become an important trend in the industry. As one of the core technologies of intelligent vehicles, the development level of automatic auxiliary driving systems directly relates to the performance and safety of intelligent vehicles. In these systems, the intelligent speed limiting capability is a key component, which can help vehicles automatically adjust the driving speed under different road conditions to ensure driving safety.

[0003] The intelligent speed limiting technology on the market at present mainly relies on high-precision maps and high-performance perception systems. High-precision maps can provide detailed road information, including speed limit signs, traffic signals, road types, etc., while high-performance perception systems capture the road environment and vehicle state in real time through cameras, radars, lidar sensors, etc. to achieve precise control of vehicle speed.

[0004] Although existing intelligent speed limiting technology plays an important role in improving driving safety, it also has some obvious defects. First, the update and maintenance cost of high-precision maps is relatively high, and in some areas, the latest map data may not be available. Second, the cost of high-performance perception systems is also relatively high, which increases the difficulty of commercialization of automatic auxiliary driving systems. In addition, these systems are strongly dependent on environmental conditions, such as adverse weather conditions, which can affect the performance of sensors, thereby reducing the accuracy and reliability of intelligent speed limiting.

[0005] Although existing intelligent speed limiting technology meets the needs of automatic auxiliary driving systems to some extent, its high cost and dependence on environmental conditions are still major factors that hinder its widespread application. Therefore, developing a lower-cost, more adaptable intelligent speed limiting solution is the key to the future development of automatic auxiliary driving technology. SUMMARY

[0006] In view of the above-mentioned shortcomings of the prior art, the present application aims to provide a navigation line-based intelligent speed limiting method, system, storage medium and electronic device, so that vehicles can improve the intelligent speed limiting method of the vehicle's ability to pass bends without relying on high-precision maps, only according to the navigation map and the vehicle-mounted perception system (camera and millimeter wave radar), effectively improving the safety and comfort of autonomous vehicles in complex road environments.

[0007] In a first aspect, the application provides an intelligent speed limit method based on a navigation line, comprising the following steps: obtaining navigation line information;

[0008] Converting the navigation line information into a coordinate system;

[0009] Calculating the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information;

[0010] Obtaining the current position information of the vehicle;

[0011] Calculating the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle;

[0012] Calculating the radius of the vehicle on the navigation line based on the point interval positioning;

[0013] Limiting the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0014] In an implementation form of the first aspect, the navigation line information is obtained through middleware and sent to the vehicle control end based on the TCP / IP protocol.

[0015] In an implementation form of the first aspect, the latitude and longitude coordinates of the discrete points of the navigation line are converted into the northeast ground coordinates.

[0016] In an implementation form of the first aspect, the calculation of the radius corresponding to any discrete point of the navigation line based on the converted navigation line information comprises the following steps:

[0017] Selecting an arbitrary discrete point on the navigation line, and selecting two discrete points based on the discrete point to form a triangle;

[0018] Obtaining the radius corresponding to the discrete point based on the side length and area of the triangle, until the radius of each discrete point on the entire navigation line is obtained.

[0019] In an implementation form of the first aspect, the formula for calculating the distance of any discrete point of the navigation line relative to the navigation starting point is as follows:

[0020] wherein, S i represents the distance of the i-th discrete point of the navigation line relative to the navigation starting point, P i (x i ,y i ) represents the coordinates of the discrete point P i , and P i-1 (x i-1 ,y i-1 ) represents the coordinates of the navigation starting point. ithe coordinates of the last point P of the navigation line i-1 S i-1 represents the distance of the i-1th discrete point of the navigation line relative to the navigation starting point.

[0021] In an implementation form of the first aspect, the calculating the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle comprises the following steps:

[0022] selecting three discrete points on the navigation line closest to the current position of the vehicle;

[0023] defining the navigation line as a first road segment and a second road segment based on the selected discrete points;

[0024] calculating the perpendicular foot of the current position of the vehicle on the first road segment and the second road segment;

[0025] judging the road segment where the vehicle is located based on the calculation result of the perpendicular foot;

[0026] calculating the point interval positioning of the vehicle on the navigation line based on the road segment.

[0027] In an implementation form of the first aspect, the calculating the radius of the vehicle on the navigation line based on the point interval positioning adopts the following formula:

[0028] wherein, R v represents the radius of the vehicle on the navigation line, R e , R s represents the radius corresponding to the current position of the vehicle, S e , S s represents the distance of the current position of the vehicle relative to the navigation starting point, and S represents the distance of the perpendicular foot of the vehicle relative to the navigation starting point.

[0029] In a second aspect, the application provides an intelligent speed limiting system based on a navigation line, which comprises a first acquisition module, a coordinate conversion module, a first calculation module, a second acquisition module, a second calculation module, a third calculation module and an intelligent speed limiting module.

[0030] The first acquisition module is configured to acquire navigation line information.

[0031] The coordinate conversion module is configured to perform coordinate system conversion on the navigation line information.

[0032] The first calculation module is configured to calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information.

[0033] The second acquisition module is configured to acquire current position information of a vehicle.

[0034] The second calculation module is configured to calculate a point interval positioning of the vehicle on the navigation line based on the current vehicle position information.

[0035] The third calculation module is configured to calculate a radius of the vehicle on the navigation line based on the point interval positioning.

[0036] The intelligent speed limiting module is configured to limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0037] In a third aspect, the present application provides an electronic device, comprising a processor and a memory.

[0038] The memory is configured to store a computer program.

[0039] The processor is configured to execute the computer program stored in the memory, so that the electronic device executes the intelligent speed limiting method based on the navigation line.

[0040] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by an electronic device to implement the intelligent speed limiting method based on the navigation line.

[0041] As described above, the intelligent speed limiting method based on the navigation line, the system, the storage medium and the electronic device have the following beneficial effects:

[0042] The intelligent speed limiting method based on the navigation line, the system, the storage medium and the electronic device provide an intelligent speed limiting method for improving the turning ability of the vehicle only relying on the navigation map and the vehicle-mounted sensing system without high-precision map. The beneficial effects mainly include the following aspects:

[0043] Firstly, the present application simplifies the dependence on high-precision map: traditional automatic driving and advanced driving assistance system often rely on high-precision map to provide accurate road information, including curvature radius and speed limit. The method of the present application realizes intelligent speed limiting without high-precision map by using simple navigation map and vehicle-mounted sensing system, greatly simplifying the dependence of the system on map accuracy.

[0044] Secondly, the present application reduces the demand for high-performance sensing system: traditional system may need high-performance sensing system, such as laser radar, to obtain high-precision environmental information. By using common vehicle-mounted sensing system such as camera and millimeter wave radar, the demand for high-performance sensing system of the system is reduced, making the technology more popular and practical.

[0045] Again, the present application has an intelligent dynamic speed limit strategy: it can dynamically adjust the speed of the vehicle according to its position and radius on the navigation line. This intelligent speed limit method based on the navigation line enables the vehicle to adjust according to the actual road conditions, thereby improving the safety and comfort of driving.

[0046] Finally, the present application can achieve safety and comfort in complex road environments: in complex road environments, such as ramps, curves, etc., the driving speed of the vehicle needs to be adjusted according to the radius of curvature and speed limit of the road. The present application can accurately calculate the position and radius of the vehicle on the navigation line, and dynamically limit the speed of the vehicle according to this information, thereby achieving safety and comfort in complex road environments. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 shows a flowchart of the intelligent speed limit method based on the navigation line of the present application in an embodiment;

[0048] Figure 2a shows a flowchart of the navigation line information acquisition of the present application in an embodiment;

[0049] Figure 2b shows a schematic diagram of the navigation line information acquisition of the present application in an embodiment;

[0050] Figure 3 shows a schematic diagram of the discrete point radius calculation of the present application in an embodiment;

[0051] Figure 4 shows a simplified flowchart of the intelligent speed limit method based on the navigation line of the present application in an embodiment;

[0052] Figure 5 shows a structural schematic diagram of the electronic device of the present application in an embodiment;

[0053] Figure 6 shows a structural schematic diagram of the intelligent speed limit system based on the navigation line of the present application in an embodiment. DETAILED DESCRIPTION

[0054] The embodiments of the present application will be described in detail below with specific reference to specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the disclosure herein. The present application can also be implemented or applied in different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0055] It is to be noted that the drawings provided in the following embodiments only schematically illustrate the basic concepts of the present application, and only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation, and the shape, number and ratio of each component in actual implementation can be arbitrarily changed, and the component layout pattern can be more complex.

[0056] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings of the embodiments of the present application.

[0057] As shown in FIG. 1, in an embodiment, the intelligent speed limit method based on navigation line of the present application includes steps S11 to S17.

[0058] Step S11, obtaining navigation line information.

[0059] Specifically, as shown in FIGS. 2a to 2b, the navigation line information is obtained through middleware, and the navigation line information is sent to the vehicle control terminal based on the TCP / IP protocol. The middleware plays a crucial role in the vehicle navigation system, which is a software layer, an abstraction layer between the operating system and the service, used to handle the communication between the vehicle control terminal and the navigation system. The following are the detailed steps of obtaining the navigation line information and sending it to the vehicle control terminal through the TCP / IP protocol:

[0060] Step S111, initially obtaining navigation line information. The middleware first needs to obtain navigation line information from the navigation system or map service. These information usually includes a series of coordinate points, representing the predetermined driving path, and possibly containing road attributes such as curve radius, slope, speed limit, etc. The navigation information sources involved in the present application include but are not limited to car navigation. Similar to mobile phone navigation, iPad navigation, etc.

[0061] Step S112, processing and packaging data. Once the navigation line information is obtained, the middleware will process the data, converting it into a format that the vehicle control system can understand and use. This involves data parsing, filtering, formatting or compression.

[0062] Step S113, establishing TCP / IP connection. The middleware uses the TCP / IP protocol to establish a network connection with the vehicle control terminal. TCP / IP is a widely used network communication protocol that provides reliable, connection-oriented services, ensuring that data can be correctly transmitted from the sender to the receiver.

[0063] Step S114, sending navigation line information. Through the established TCP / IP connection, the middleware sends the packaged navigation line information to the vehicle control terminal. This process includes:

[0064] Serialization: Convert the navigation line information into a format suitable for network transmission, typically a byte stream.

[0065] Sending: Send the serialized data to the vehicle control end through the TCP socket.

[0066] Acknowledgment: Wait for the vehicle control end to confirm receipt of data to ensure transmission reliability.

[0067] Step S115, receiving and processing at the vehicle receiving end. After the vehicle control end receives the navigation line information, it will be parsed and processed. These information will be used to guide the vehicle's travel, including speed adjustment, direction control, etc.

[0068] The communication between the middleware and the vehicle control end is continuous. The middleware needs to monitor the connection state to ensure continuous data transmission and re-establish the connection if necessary. The vehicle control end may send feedback to the middleware according to the received navigation line information and the real-time state of the vehicle. The middleware adjusts accordingly, such as updating the navigation line information, adjusting the data transmission frequency, etc. Through the above process, the middleware ensures that the vehicle can be accurately controlled according to the real-time navigation line information, so as to realize safe and efficient travel. The advantage of using TCP / IP protocol is that it provides a stable and reliable communication mechanism, which is suitable for vehicle control systems with high requirements for data integrity and transmission reliability.

[0069] Step S12, coordinate system conversion of the navigation line information.

[0070] Specifically, the latitude and longitude coordinates of the discrete points of the navigation line are converted to the Northeast Sky Ground coordinates.

[0071] The Northeast Sky coordinate system is a local Cartesian coordinate system, which is usually used to describe the position of a point relative to a reference point, where "North" points to the direction of the Earth's North Pole, "East" points to the direction of the Earth's East, and "Sky" points to the center of the Earth. The specific conversion steps are as follows:

[0072] Step S121, determine the reference point. Choose a reference point, whose latitude and longitude coordinates will be used as the basis for conversion. Usually, this reference point can be the starting point of the navigation line or any fixed point.

[0073] Step S122, calculate the Northeast Sky coordinate system origin of the reference point. Use the latitude and longitude coordinates of the reference point to convert them into coordinates in the Earth-Centered, Earth-Fixed (ECEF) coordinate system. Then, convert the ECEF coordinates to the coordinates in the Northeast Sky coordinate system, which will be used as the origin for converting other points.

[0074] Step S123, converting latitude and longitude to ECEF coordinates. For each discrete point, first convert its latitude and longitude coordinates to ECEF coordinates. This typically involves: calculating the value of the Earth's radius at the given latitude. Using the latitude and longitude and the Earth's radius to calculate the ECEF coordinates.

[0075] Step S124, conversion from ECEF to NED coordinates. Calculate the difference between the ECEF coordinates of the reference point and the ECEF coordinates of the point to be converted. Apply the rotation matrix to convert the difference from the ECEF coordinate system to the NED coordinate system.

[0076] Through this process, we can convert the latitude and longitude coordinates of each discrete point on the navigation line to the NED ground coordinates relative to the reference point.

[0077] Step S13, based on the converted navigation line information, calculate the radius corresponding to any discrete point on the navigation line and the distance relative to the navigation starting point.

[0078] After converting the latitude and longitude coordinates of the discrete points on the navigation line to NED ground coordinates, based on these converted information, calculate the radius corresponding to each discrete point and the distance relative to the navigation starting point. The radius of the discrete points on the navigation line refers to the vertical distance from the center line of the navigation line to the discrete point. In the case of a curved navigation line, this radius may vary with position. The radius of the discrete point can help determine whether the vehicle has deviated from the predetermined navigation path. If the vehicle remains within the radius of the navigation line, it is considered to be traveling along the correct path. The distance of the discrete point on the navigation line relative to the navigation starting point refers to the straight-line distance from the navigation starting point to the current discrete point, which can help determine the vehicle's position on the navigation line. By comparing the actual position of the vehicle with the expected position on the navigation line, the specific position of the vehicle on the navigation line can be calculated.

[0079] By calculating the current position of the vehicle and the radius and distance of the discrete points on the navigation line, the exact position of the vehicle on the navigation line can be determined. For example, if the vehicle has a small radius from the navigation line, it is likely to be on the navigation line. If the vehicle deviates from the navigation line, by calculating its relative position to the navigation line, the vehicle's heading can be adjusted to return to the correct path. In an autonomous driving or precise navigation system, knowing the specific position of the vehicle relative to the navigation line is crucial for tracking the predetermined path. This involves continuously calculating the relationship between the vehicle's position and the navigation line, and adjusting the vehicle's driving direction and speed accordingly. By comparing the actual position of the vehicle with the expected position, the accuracy and reliability of the navigation system can be evaluated, and system parameters can be adjusted to improve performance.

[0080] Specifically, based on the converted navigation line information, calculating the radius corresponding to any discrete point on the navigation line includes the following steps:

[0081] Select an arbitrary discrete point on the navigation line, and then select two more discrete points based on the discrete point to form a triangle;

[0082] The radius corresponding to the discrete point is obtained based on the side length and area of ​​the triangle, until the radius of each discrete point on the entire navigation line is obtained.

[0083] In one embodiment, discrete point P on the navigation line is calculated. i The corresponding radius R i The steps are as follows:

[0084] Step S131: Form a triangle. As shown in Figure 3, select P on the navigation line. i For each discrete point on the navigation line, take two more discrete points at intervals from the first point to form a triangle. The three points of the triangle are denoted as P1(x1, y1), P2(x2, y2), and P3(x3, y3). When calculating the radius of the discrete points on the navigation line, the three selected points can be three adjacent points, three points of equal distance, or three points separated by the same number of intermediate points.

[0085] Step S132: Calculate the side lengths a, b, and c of the triangle, as well as its area S. The length of each side of the triangle is calculated using the distance formula between two points. These lengths are based on the coordinates of the points on the navigation line. The formulas for calculating the side lengths and area are as follows: p = 0.5 × (a + b + c)

[0086] Where a, b, and c represent the side lengths of the triangle, S represents the area of ​​the triangle, and p represents the half-side length of the triangle.

[0087] Step S133: Calculate the circumcircle radius. Calculate the radius R of the circumcircle based on the area and side length of the triangle. This radius is considered the "range of influence" of the triangle's center point. The calculation formula is as follows:

[0088] Step S134: Determine the radius of the discrete points. Assign R to the selected discrete points: thus, each discrete point is assigned a corresponding radius. This is used for further path planning or navigation decisions.

[0089] Calculate discrete point P on the navigation line i (x i ,y i The distance S relative to the navigation starting point P0(x0,y0) is calculated in steps. i The formula is as follows:

[0090] Among them, S i P represents the distance of the i-th discrete point on the navigation line relative to the navigation starting point.i (x i ,y i ) is represented as discrete point P i The coordinates of P i-1 (x i-1 ,y i-1 ) is represented as discrete point P i Point P above the navigation line i-1 The coordinates of S i-1 This represents the distance of the (i-1)th discrete point of the navigation line relative to the navigation starting point.

[0091] Step S14: Obtain the vehicle's current location information.

[0092] By combining data from different sensors, sensor fusion technology can be used to obtain more accurate and reliable vehicle location information.

[0093] Step S15: Calculate the point interval positioning of the vehicle on the navigation line based on the vehicle's current location information.

[0094] A point interval refers to the specific segment on the navigation line where a vehicle is located. This can be a predefined interval or a dynamically determined interval based on the vehicle's current position. By determining the point interval where the vehicle is located, we can know the characteristics of the road segment the vehicle is about to enter, such as curves, slopes, and intersections. This information is crucial for setting speed limits. For example, near curves or intersections, the speed limit is usually reduced to ensure safety.

[0095] Step S16: Calculate the radius of the vehicle on the navigation line based on the point interval positioning.

[0096] The radius of a vehicle on the navigation line refers to the perpendicular distance between the vehicle and the centerline of the navigation line. This radius reflects the degree of deviation from the navigation line. If the vehicle deviates significantly from the navigation line, it may indicate that it is traveling too fast on the curve and needs to reduce its speed to avoid loss of control or an accident.

[0097] Calculating the vehicle's point-to-interval positioning on the navigation line based on the vehicle's current location information includes the following steps:

[0098] Select three discrete points on the navigation line that are closest to the current vehicle position;

[0099] The navigation line is defined as a first segment and a second segment based on the selected discrete points;

[0100] Calculate the perpendiculars of the current vehicle position to the first road segment and the second road segment;

[0101] The location of the vehicle is determined based on the perpendicular calculation results;

[0102] calculating the point interval of the vehicle on the navigation line based on the road segment.

[0103] In one embodiment, the steps for calculating the point interval of the vehicle on the navigation line are as follows:

[0104] Step S161, select the nearest neighbor points. Select three discrete points close to the current position of the vehicle, denoted as C1, C2, and C3. These three points will be used to determine the specific road segment and position of the vehicle.

[0105] Step S162, calculate the foot. Calculate the perpendicular projection of the current position of the vehicle to the two continuous road segments defined by these three points. Calculate the current position P v the perpendicular projection point, i.e. the foot P f relative to the first road segment (from C1 to C2). v relative to the second road segment (from C2 to C3).

[0106] Step S163, judge the foot position. If the foot falls on the first road segment (from C1 to C2), the vehicle is located in the first road segment; if the foot falls on the second road segment (from C2 to C3), the vehicle is located in the second road segment.

[0107] Finally, after determining which road segment the vehicle is located in, the actual position of the vehicle on the navigation line is updated to the corresponding foot position. This helps to accurately locate the vehicle's position on the navigation path, which is crucial for path planning and navigation accuracy. This process is a key step in vehicle navigation and autonomous driving technology, ensuring accurate knowledge of the vehicle's position even under complex road conditions. With accurate position information, the system can better plan the driving route, adjust the path, provide real-time traffic information, etc., thereby improving driving safety and efficiency.

[0108] The point interval is calculated to determine the specific position of the vehicle on the navigation line, while the radius is calculated to understand the lateral position of the vehicle relative to the navigation line. The combination of the two can more accurately describe the three-dimensional position of the vehicle on the navigation line. In autonomous driving or navigation systems, determining the point interval where the vehicle is located helps to plan the next driving path, while calculating the radius helps to adjust the lateral control of the vehicle, ensuring that the vehicle accurately tracks the navigation line. If the point interval of the vehicle on the navigation line changes (for example, from a straight segment to a curved segment), the vehicle may need to adjust speed and direction. At this time, calculating the radius can help the vehicle control system make appropriate adjustments, such as reducing speed to safely pass through the curve. If the radius of the vehicle exceeds the predetermined threshold, it indicates that the vehicle may have deviated from the navigation line and needs to take corrective measures, such as steering adjustment.

[0109] Therefore, the vehicle's speed limit can be dynamically adjusted based on the vehicle's position and radius on the navigation line. For example, if a vehicle approaches a curve and its radius indicates it may be on the outside of the curve, the system may reduce the speed limit to prevent skidding or rollover. Different road sections may have different speed limits. By calculating the vehicle's position on the navigation line, it can be ensured that the vehicle complies with relevant traffic rules, such as reducing speed in school zones or residential areas. Modern vehicles are often equipped with driver assistance systems that can adjust the vehicle's speed based on its position and radius on the navigation line, providing a safer driving experience. In inclement weather or road conditions, the vehicle may need to reduce its speed. By calculating the vehicle's position and radius on the navigation line in real time, it can better adapt to changes in road conditions. Calculating the vehicle's position and radius on the navigation line based on its current location information is a crucial part of intelligent transportation systems and autonomous driving technologies. These are closely related to the setting of vehicle speed limits, jointly ensuring driving safety, compliance with traffic rules, and improved driving efficiency.

[0110] Furthermore, the radius corresponding to the vehicle's current position and the distance relative to the navigation starting point, as well as the distance of the vehicle's perpendicular foot to the navigation starting point, obtained in steps S13 and S15, are used to calculate the radius of the vehicle on the navigation line.

[0111] In one embodiment, the vehicle's current location P v The interval of points is (P) s P e ), obtain the starting point P of the interval. s The corresponding radius R s The endpoint of the interval P e The corresponding radius R e Then obtain the starting point P of the interval. s The corresponding distance S s The endpoint of the interval P e The corresponding distance S e Further calculate the foot of the perpendicular P. f and P f The radius R corresponding to the navigation line v The formula is as follows:

[0112] Among them, R v R represents the radius of the vehicle on the navigation line. e R s S represents the radius corresponding to the vehicle's current position. e S s This represents the distance of the vehicle's current position relative to the navigation starting point, where S represents the distance of the vehicle's perpendicular foot to the navigation starting point.

[0113] Step S17: Limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0114] According to the current radius of the vehicle, the corresponding maximum speed limit value is found from the preset speed limit standard, and the speed of the vehicle is adjusted accordingly. In an embodiment, a speed limit standard is preset, such as a radius of 100 m corresponding to a speed limit of 40 km / h; a radius of 200 m corresponding to a speed limit of 50 km / h. The standard is obtained through actual road testing and calibration. The speed limit formula can be represented as V = f(R). The expression of the function f(R) is obtained through actual calibration. The function f(R) can be a piecewise function, each radius interval corresponding to a speed limit value. The speed limit value corresponding to the current radius is found, different radii corresponding to different speed limit values, and some filtering processing is done between different speed limit values to ensure the smoothness of the speed. If the current speed of the vehicle is higher than the found speed limit value, the vehicle needs to be slowed down. If the current speed of the vehicle is lower than the speed limit value, the current speed can be maintained or appropriately accelerated according to other traffic conditions.

[0115] In an embodiment, as shown in FIG. 4, in the absence of a high-precision map, the intelligent speed limit method for improving the vehicle's turning ability using a navigation map and a vehicle-mounted perception system includes the following steps:

[0116] (1) Extract navigation line information. Extract navigation line information containing turning points, radius of curvature, and speed limit from the navigation map.

[0117] (2) Coordinate system conversion. Convert the navigation line information from latitude and longitude coordinates to Northeast Earth Surface coordinates.

[0118] (3) Calculate the radius of the discrete points on the navigation line. For each discrete point on the navigation line, calculate the perpendicular distance to the turning center line, i.e. the radius.

[0119] (4) Calculate the distance of the discrete points on the navigation line relative to the starting point of the navigation line. For each discrete point on the navigation line, calculate the straight-line distance from the navigation starting point.

[0120] (5) Calculate the point interval of the vehicle on the navigation line. Based on the current position information of the vehicle, determine the specific point interval of the vehicle on the navigation line.

[0121] (6) Calculate the radius of the vehicle on the navigation line. Based on the current position information of the vehicle, calculate its radius on the navigation line.

[0122] (7) Limit the speed of the vehicle according to the radius. According to the radius of the vehicle on the navigation line, find the corresponding maximum speed limit value from the preset speed limit standard. Adjust the speed of the vehicle so that it does not exceed the found maximum speed limit value.

[0123] Through the above steps, the vehicle is not dependent on a high-precision map, and only needs a simple navigation map. The demand for a high-performance perception system is reduced, and a vehicle-mounted perception system (such as a camera and a millimeter wave radar) can be used. The safety and comfort of the autonomous vehicle in a complex road environment are improved. The vehicle can actively reduce speed when autonomously getting on and off a ramp, and the driving safety is improved.

[0124] The protection scope of the intelligent speed limiting method based on a navigation line according to the embodiments of the present application is not limited to the execution order of the steps listed in the embodiments, and any scheme achieved by adding, reducing or replacing steps of the prior art according to the principle of the present application is included in the protection scope of the present application.

[0125] The embodiments of the present application also provide an intelligent speed limiting system based on a navigation line, which can implement the intelligent speed limiting method based on a navigation line according to the present application. However, the implementation device of the intelligent speed limiting system based on a navigation line according to the present application includes but is not limited to the structure of the intelligent speed limiting system based on a navigation line listed in the embodiments, and any structure deformation and replacement of the prior art according to the principle of the present application is included in the protection scope of the present application.

[0126] The embodiments of the present application also provide a computer-readable storage medium. Those skilled in the art can understand that all or part of the steps of the methods described in the above embodiments can be completed by a processor instructed by a program, and the program can be stored in a computer-readable storage medium. The storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid state disk, a magnetic tape, a floppy disk, an optical disc and any combination thereof. The storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center and the like integrated with one or more available medium sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital video disc (DVD)) or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0127] The embodiments of the present application also provide an electronic device. The electronic device includes a processor and a memory.

[0128] The memory is used to store a computer program.

[0129] The memory includes a ROM, a RAM, a disk, a U disk, a memory card or an optical disc and various media that can store program codes.

[0130] The processor is connected with the memory, and is used for executing a computer program stored in the memory, so that the electronic device executes the intelligent speed limiting method based on navigation line.

[0131] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0132] As shown in FIG. 5, the electronic device of the present application is in the form of a general-purpose computing device. The components of the electronic device can include, but are not limited to, one or more processors or processing units 51, a memory 52, and a bus 53 connecting different system components, including the memory 52 and the processing unit 51.

[0133] The bus 53 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, an industry standard architecture (ISA) bus, a microchannel architecture (MAC) bus, an enhanced ISA bus, a video electronics standards association (VESA) local bus, and a peripheral component interconnect (PCI) bus.

[0134] The electronic device typically includes a variety of computer system readable media. These media can be any available media that is accessible by the electronic device and includes both volatile and non-volatile media, removable and non-removable media.

[0135] The memory 52 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 521 and / or cache memory 522. The electronic device can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 523 can be provided for reading from and writing to non-removable, non-volatile magnetic media (not shown in FIG. 5), such as a "hard drive". Although not specifically shown, a magnetic disk drive can also be used for reading from and writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive can be used for reading from or writing to a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical media). In these instances, each drive can be connected to the bus 53 by one or more data media interfaces. The memory 52 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

[0136] Program / utility 524 having a set (at least one) of program modules 5241 can be stored in memory 52, such as read-only memory (ROM), random-access memory (RAM), or both, including cache memory and / or other storage. The set of program modules 5241 generally includes an operating system, one or more application programs, other program modules, and program data, and can include an implementation of a network environment, for example, in each of these or some combination thereof. The program modules 5241 typically are executed by the processor 520 and / or another processor that is provided in the electronic device 500 in conjunction with the processor 520.

[0137] The electronic device can also communicate with one or more external devices such as a keyboard or pointing device, a display 510, etc.; other devices such as a storage device or an external device 520; and / or one or more databases 530. In general, use of the term "device" or "module" throughout should be taken to include a single unit capable of functioning both as a device and a module, as well as a plurality of devices or modules capable of functioning in concert to provide a desired functionality. In addition, the electronic device can communicate over a network 540 with one or more other electronic devices, such as a server, a database, etc. The network 540 can include, for example, an Internet network, a telephone network, a wireless network, a local area network (LAN), a wide area network (WAN), etc. The network 540 can be implemented using both wired and / or wireless communications.

[0138] As shown in FIG. 6, in one embodiment, the navigation line based intelligent speed limiting system of the present application includes a first obtaining module 61, a coordinate conversion module 62, a first calculating module 63, a second obtaining module 64, a second calculating module 65, a third calculating module 66, and an intelligent speed limiting module 67.

[0139] The first obtaining module 61 is configured to obtain navigation line information.

[0140] The coordinate conversion module 62 is connected with the first obtaining module 61, and is configured to perform coordinate system conversion on the navigation line information.

[0141] The first calculating module 63 is connected with the coordinate conversion module 62, and is configured to calculate a radius corresponding to an arbitrary discrete point of the navigation line and a distance relative to a navigation starting point based on the converted navigation line information.

[0142] The second obtaining module 64 is connected with the first calculating module 63, and is configured to obtain current vehicle position information.

[0143] The second calculating module 65 is connected with the second obtaining module 63, and is configured to calculate point interval positioning of the vehicle on the navigation line based on the current vehicle position information.

[0144] The third calculating module 66 is connected with the second calculating module 65, and is configured to calculate a radius of the vehicle on the navigation line based on the point interval positioning.

[0145] The intelligent speed limiting module 67 is connected with the third calculating module 66, and is configured to limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0146] In several embodiments provided by the present application, it should be understood that the disclosed system, device or method can be implemented in other manners. For example, the described device embodiment is merely schematic. For example, the division of the modules / unit can be different, for example, a plurality of modules or units can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or modules, and can be electrical, mechanical or in other forms.

[0147] The modules / unit described as separate components can or can not be physically separate, and the components shown as modules / unit can or can not be physical modules, i.e., can be located in one place or distributed on a plurality of network units. Some or all of the modules / unit can be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / unit in each embodiment of the present application can be integrated into a processing module, or each module / unit can be physically separate, or two or more modules / unit can be integrated into one module / unit.

[0148] Those skilled in the art should further understand that units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software, or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, each example has been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person 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 application.

[0149] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present application should be covered by the claims of the present application.

Claims

1. A navigation line-based intelligent speed limit method, characterized by, The method comprises the following steps: Obtain navigation line information; Convert the coordinate system of the navigation line information; Calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information; Obtain the current vehicle position information; Calculate the point interval positioning of the vehicle on the navigation line based on the current vehicle position information; Calculate the radius of the vehicle on the navigation line based on the point interval positioning; Limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

2. The navigation line-based intelligent speed limiting method according to claim 1, characterized in that: Obtain the navigation line information through middleware and send it to the vehicle control terminal based on the TCP / IP protocol.

3. The navigation line-based intelligent speed limiting method of claim 1, wherein: Convert the latitude and longitude coordinates of the discrete points of the navigation line into the northeast terrestrial coordinates.

4. The navigation line-based intelligent speed limiting method of claim 1, wherein: The calculation of the radius corresponding to any discrete point of the navigation line based on the converted navigation line information comprises the following steps: Select an arbitrary discrete point on the navigation line, and select two discrete points based on the discrete point to form a triangle; Based on the side length and area of the triangle, the radius corresponding to the discrete point is obtained, and the radii of the discrete points on the entire navigation line are obtained.

5. The navigation line-based intelligent speed limiting method of claim 1, wherein: The formula for calculating the distance of any discrete point of the navigation line relative to the navigation starting point is as follows: Among them, S i P represents the distance of the i-th discrete point on the navigation line relative to the navigation starting point. i (x i ,y i ) is represented as discrete point P i The coordinates of P i-1 (x i-1 ,y i-1 ) is represented as discrete point P i Point P above the navigation line i-1 The coordinates of S i-1 This represents the distance of the (i-1)th discrete point of the navigation line relative to the navigation starting point.

6. The navigation line based intelligent speed limiting method of claim 1, wherein: The calculation of the point interval positioning of the vehicle on the navigation line based on the current vehicle position information comprises the following steps: Select three discrete points closest to the current vehicle position on the navigation line; Define the navigation line as a first section and a second section based on the selected discrete points; Calculate the foot of the perpendicular of the current vehicle position on the first section and the second section; Determine the section of the vehicle based on the calculation result of the foot of the perpendicular; Calculate the point interval positioning of the vehicle on the navigation line based on the section.

7. The navigation line based intelligent speed limiting method of claim 6, wherein: Based on the point interval positioning, the radius of the vehicle on the navigation line is calculated using the following formula: wherein R v represents the radius of the vehicle on the navigation line, R e , R s represents the radius corresponding to the current position of the vehicle, S e , S s represents the distance of the current position of the vehicle relative to the navigation starting point, S represents the distance of the vehicle foot point relative to the navigation starting point.

8. A navigation line-based intelligent speed limiting system, characterized by, The system comprises a first acquisition module, a coordinate conversion module, a first calculation module, a second acquisition module, a second calculation module, a third calculation module, and an intelligent speed limiting module; The first acquisition module is used to obtain navigation line information; The coordinate conversion module is used to convert the coordinate system of the navigation line information; The first calculation module is used to calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information; The second acquisition module is used to obtain the current vehicle position information; The second calculation module is used to calculate the point interval positioning of the vehicle on the navigation line based on the current vehicle position information; The third calculation module is used to calculate the radius of the vehicle on the navigation line based on the point interval positioning; The intelligent speed limiting module is used to limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

9. An electronic device, comprising: The electronic device comprises a processor and a memory; The memory is used to store a computer program; The processor is used to execute the computer program stored in the memory, so that the electronic device executes the intelligent speed limiting method based on the navigation line according to any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the electronic device to implement the intelligent speed limiting method based on the navigation line according to any one of claims 1 to 7.

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