Vehicle speed setting method and apparatus, vehicle, device, medium, and product

Abstract

Provided are a vehicle speed setting method and apparatus, a vehicle, a device, a medium, and a product. The vehicle speed setting method comprises: acquiring a map speed limit corresponding to a road section where a first vehicle is located, and a speed limit detection result obtained by detecting a speed limit sign on the road section; measuring the average speed of second vehicles on the road section, wherein the second vehicles include at least one target vehicle traveling around the first vehicle; and setting a target traveling speed of the first vehicle on the road section on the basis of the map speed limit, the speed limit detection result and the average speed.

Description

Methods, devices, vehicles, equipment, media, and products for setting vehicle speed. Cross-references to related applications

[0001] This application claims priority to Chinese Patent Application No. 202510357296.0, filed with the Chinese Patent Office on March 25, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of vehicle control, specifically to a method, apparatus, vehicle, equipment, medium, and product for setting vehicle speed. Background Technology

[0003] Currently, the main ways to set the vehicle's speed in mass-produced intelligent driving highway navigation assistance systems are through two methods: setting the speed limit via high-precision maps and recognizing road speed limit signs via cameras. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail in this application, and this overview is not intended to limit the scope of the claims.

[0005] A first aspect of this application provides a method for setting vehicle speed, the method comprising: obtaining a map speed limit corresponding to a road segment where a first vehicle is located, and a speed limit detection result obtained by detecting a speed limit sign of the road segment; detecting the average speed of a second vehicle in the road segment, wherein the second vehicle includes at least one target vehicle traveling around the first vehicle; and setting a target driving speed of the first vehicle in the road segment based on the map speed limit, the speed limit detection result, and the average speed.

[0006] In this embodiment of the application, detecting the average speed of the second vehicle on the road segment includes: obtaining a search range corresponding to the road segment type of the road segment where the first vehicle is located; selecting at least one target vehicle on the road segment according to the search range; detecting the vehicle speed corresponding to each target vehicle; and calculating the average speed of the second vehicle based on the vehicle speed of each target vehicle.

[0007] In this embodiment of the application, determining the road segment type of the road segment where the first vehicle is located includes: obtaining lane line features of at least one lane line in the road segment where the first vehicle is located; matching the lane line features with preset features to obtain a matching result, wherein the preset features are features of guide lines; and determining the road segment type of the road segment where the first vehicle is located based on the matching result.

[0008] In this embodiment of the application, detecting the average speed of the second vehicle on the road segment further includes: reselecting target vehicles at set time intervals; and recalculating the average speed of the second vehicle based on the vehicle speed of each reselected target vehicle and the previously calculated average speed.

[0009] In this embodiment of the application, setting the target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed includes: if the speed limit detection result includes the road segment speed limit, then analyzing the relative magnitude relationship between the road segment speed limit and the map speed limit; selecting a reference speed from the road segment speed limit and the map speed limit based on the relative magnitude relationship; and setting the target driving speed based on the relative magnitude relationship, the reference speed, and the average speed.

[0010] In this embodiment of the application, the step of selecting a reference speed from the road segment speed limit and the map speed limit based on the relative size relationship includes: if the relative size relationship is that the road segment speed limit is less than the map speed limit, and the map speed limit is less than or equal to a first speed threshold, then the map speed limit is used as the reference speed, where the first speed threshold is calculated by the road segment speed limit and a first coefficient, and the first coefficient is greater than 1; if the relative size relationship is that the road segment speed limit is less than the map speed limit, and the map speed limit is greater than the first speed threshold, then the map speed limit is used as the reference speed; if the relative size relationship is that the map speed limit is less than the road segment speed limit, and the map speed limit is greater than or equal to a second speed threshold, then the road segment speed limit is used as the reference speed, where the second speed threshold is calculated by the road segment speed limit and a second coefficient, and the second coefficient is less than 1; if the relative size relationship is that the map speed limit is less than the road segment speed limit, and the map speed limit is less than the second speed threshold, then the road segment speed limit is used as the reference speed.

[0011] In this embodiment of the application, setting the target driving speed based on the relative size relationship, the reference speed, and the average speed includes: if the relative size relationship is that the map speed limit is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, then the reference speed is used as the target driving speed; if the relative size relationship is that the map speed limit is greater than the first speed threshold or less than the second speed threshold, then the number of target vehicles included in the second vehicle is determined, and the target driving speed is determined based on the number of target vehicles, the reference speed, and the average speed.

[0012] In this embodiment of the application, setting the target driving speed based on the number of target vehicles, the reference speed, and the average speed includes: if the second vehicle includes only one target vehicle, then the larger of the reference speed and the average speed is selected as the target driving speed; if the second vehicle includes at least two target vehicles, then the average speed is used as the target driving speed.

[0013] In this embodiment of the application, the step of setting the target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed includes: if the speed limit detection result does not include the road segment speed limit, then determining the number of target vehicles included in the second vehicle; and setting the target driving speed of the first vehicle on the road segment based on the number of target vehicles, the map speed limit, and the average speed.

[0014] In this embodiment of the application, setting the target driving speed of the first vehicle on the road segment based on the number of target vehicles, the map speed limit, and the average speed includes: if the second vehicle includes only one target vehicle, then the larger of the map speed limit and the average speed is taken as the target driving speed; if the second vehicle includes at least two target vehicles, then the average speed is taken as the target driving speed.

[0015] A second aspect of this application provides a vehicle speed setting device, the device comprising: an acquisition module configured to acquire a map speed limit corresponding to a road segment where a first vehicle is located, and a speed limit detection result obtained by detecting a speed limit sign of the road segment; a detection module configured to detect the average speed of a second vehicle on the road segment, wherein the second vehicle includes at least one target vehicle traveling around the first vehicle; and an analysis module configured to set a target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed.

[0016] A third aspect of this application provides a vehicle, including a vehicle body and a controller, wherein the controller stores control instructions, and the controller executes the above-described method by executing the control instructions.

[0017] A fourth aspect of this application provides a computer device, including: at least one memory and at least one processor, the at least one memory and at least one processor being communicatively connected, the at least one memory storing computer-executable instructions, and the at least one processor being configured to read from and execute the computer-executable instructions from the at least one memory, thereby performing the method of the first aspect or any corresponding embodiment thereof.

[0018] A fifth aspect of this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by at least one processor, perform the method described in the first aspect or any corresponding embodiment thereof.

[0019] A sixth aspect of this application provides a computer program product, including a computer program that, when executed by at least one processor, implements the method described in the first aspect or any corresponding embodiment thereof.

[0020] 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 this specification. Other aspects will become clear after reading and understanding the accompanying drawings and detailed description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the specific embodiments of this application, the drawings used in the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0023] Figure 1 is a flowchart illustrating a method for setting vehicle speed according to some embodiments of this application.

[0024] Figure 2 is a schematic diagram of a guide line according to some embodiments of this application.

[0025] Figure 3 is a schematic diagram of the analysis of road segment types according to some embodiments of this application.

[0026] Figure 4 is a flowchart illustrating a method for setting vehicle speed according to some embodiments of this application.

[0027] Figure 5 is a flowchart illustrating a method for setting vehicle speed according to some embodiments of this application.

[0028] Figure 6 is a structural block diagram of a vehicle speed setting device according to an embodiment of this application.

[0029] Figure 7 is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Currently, mass-produced intelligent driving highway navigation assistance systems primarily set the vehicle's speed using two methods: speed limits based on high-precision maps and speed limit sign recognition via cameras. However, in certain highway scenarios, such as road construction speed limit signs, replacement of old signs with new ones, and ramps, discrepancies may arise between the high-precision map speed limit and the camera-recognized speed limit. In these situations, the system cannot intelligently and appropriately set the vehicle's speed. This results in a significant speed difference between the vehicle's speed limit obtained from the high-precision map or road signs and the speed limits of other vehicles, potentially leading to speeding or excessively slow driving.

[0032] According to embodiments of this application, a method, apparatus, vehicle, device, medium, and product for setting vehicle speed are provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0033] This application provides a method for setting vehicle speed, which can be used on mobile terminals such as mobile phones and tablets. Figure 1 is a flowchart of a method for setting vehicle speed according to an embodiment of this application. As shown in Figure 1, the process includes the following steps S101 to S103.

[0034] Step S101: Obtain the map speed limit corresponding to the road segment where the first vehicle is located, and the speed limit detection result obtained by detecting the speed limit sign of the road segment.

[0035] In this embodiment, the first vehicle refers to the vehicle for which a speed is to be set, i.e., a self-driving vehicle. Upon startup, the high-precision map system mounted on the first vehicle immediately works in conjunction with the vehicle positioning module. Utilizing high-precision satellite positioning technology and an inertial navigation system, the vehicle positioning module accurately and in real-time determines the vehicle's geographical location, including key information such as latitude, longitude, and altitude, and transmits the vehicle's geographical location to the high-precision map system.

[0036] Simultaneously, the high-precision map system establishes a stable network connection with the cloud server. Based on the current location information of the first vehicle, the high-precision map system sends a specific request instruction to the cloud server, indicating that it needs to obtain the map speed limit data for the area where the first vehicle is currently located. After receiving the request, the cloud server retrieves the road segment information corresponding to the current location of the first vehicle from its map database and extracts the corresponding map speed limit data. Subsequently, it encapsulates this map speed limit data and sends it back to the high-precision map system of the first vehicle.

[0037] In this embodiment of the application, the speed limit signs of the road section are detected by using the vehicle's camera to collect road images in real time, and by using, for example, an instance-based segmentation algorithm to identify the speed limit signs in the images, thereby outputting the speed limit detection results.

[0038] Step S102: Detect the average speed of the second vehicle under the road segment, wherein the second vehicle includes at least one target vehicle traveling around the first vehicle.

[0039] In this embodiment of the application, the method further includes determining the road segment type of the road segment where the first vehicle is located, specifically including the following steps A1 to A3.

[0040] Step A1: Obtain the lane line features of at least one lane line in the road segment where the first vehicle is located.

[0041] Specifically, the first vehicle continuously acquires images of the road segment in which it is located using cameras installed at specific locations on the vehicle body (such as the front, rear, or side). These images cover the road scene within a certain range in front of or around the first vehicle, including lane lines. After image acquisition, the images are transmitted to the image processing unit of the first vehicle. In the image processing unit, an instance-based segmentation algorithm is first used to process the images. This algorithm classifies each pixel in the image, accurately identifying and segmenting pixels belonging to lane lines, thereby obtaining at least one lane line in the road segment in which the first vehicle is located. For the segmented lane lines, their lane line features are further extracted. These features include, but are not limited to, the geometric features of the lane lines, such as length, curvature, and straightness; positional features, i.e., the coordinate position of the lane line in the image and its relative position to the first vehicle itself; and directional features, such as the tilt angle of the lane lines, i.e., whether the lane lines are horizontal, vertical, or have a certain slope.

[0042] Step A2: Match the lane line features with preset features to obtain the matching result, where the preset features are the features of the guide lines.

[0043] Specifically, after acquiring lane line features, they are matched with pre-defined features of guide lines. These pre-defined features are a representative set derived from a large amount of guide line sample data through analysis and summarization. These features include unique shape features, such as guide lines typically exhibiting triangular or other specific irregular shapes; location features, as shown in Figure 2, guide lines are generally located at specific positions such as intersections and ramps; and directional features, such as a specific angular relationship between the guide line direction and the normal driving direction of vehicles. During the matching process, a similarity algorithm is used to compare the extracted lane line features with the pre-defined guide line features one by one, calculating their similarity scores. The matching result is determined based on the similarity score and a pre-defined threshold. If the similarity score is higher than the threshold, the lane line features are considered to have successfully matched the pre-defined features, i.e., the lane line is identified as a guide line; if the similarity score is lower than the threshold, the matching fails, indicating that the lane line does not conform to the characteristics of a guide line. The final matching result determines whether to return to instance-based lane line detection (i.e., step A1) or proceed to the location judgment stage (i.e., step A3).

[0044] Step A3: Determine the road segment type of the road segment where the first vehicle is located based on the matching results.

[0045] Specifically, if the matching result shows that the lane line features of each lane do not match the preset features, then the road segment type is determined to be a main road type.

[0046] It should be noted that after matching the lane line features with the preset guide line features, if the matching results show that the lane line features of each lane do not match the preset features, it means that the currently detected lane lines do not possess the typical features of guide lines. Based on the established judgment rules, in this case, the road segment type where the first vehicle is located can be determined to be a main road type.

[0047] Alternatively, if the matching result is that the lane line features of one or more lane lines match the preset features, then the lane line corresponding to the lane line feature that matches the preset features is determined as a guide line. If the guide line is located to the left of the first vehicle's direction of travel, then the road segment type is determined to be a ramp type. Or, if the guide line is located to the right of the first vehicle's direction of travel, then the road segment type is determined to be a main road type.

[0048] If the matching results show that one or more lane line features match preset features, the system will identify the lane lines corresponding to these lane line features as guide lines. Next, the system will further determine the position of the guide line relative to the direction of travel of the first vehicle. If the guide line is determined to be to the left of the direction of travel of the first vehicle, according to preset rules, the road segment type where the first vehicle is located will be determined to be a ramp type; conversely, if the guide line is to the right of the direction of travel of the first vehicle, the system will determine the road segment type to be a main road type.

[0049] Finally, the position of the first vehicle is determined based on the guide lines. If it is determined that none of the lane lines are guide lines, the first vehicle is considered to be on the main road. If it is determined that there is a lane line that is a guide line, and the guide line is to the left of the first vehicle, the first vehicle is considered to be on the ramp. If the guide line is to the right of the first vehicle, the first vehicle is considered to be on the main road, and this result is output. In this embodiment of the application, as shown in Figure 3, the result of determining the position of the first vehicle based on the guide line is matched with a high-precision map (such as an Enhanced Horizon Provider, EHP). If the road type given by EHP is a ramp, and the camera recognizes the ramp guide line and considers the current position to be a ramp, then the vehicle position is successfully matched, and the output result is "ramp". If the road type given by EHP is a main road, and the camera recognizes the ramp guide line and considers the current position to be a ramp, then the vehicle position is not successfully matched, and the process loops again. If the road type given by EHP is a ramp, and the camera does not recognize the ramp guide line and considers the current position to be a main road, then the vehicle position is not successfully matched, and the process loops again. If the road type given by EHP is a main road, and the camera does not recognize the ramp guide line and considers the current position to be a main road, then the vehicle position is successfully matched, and the output result is "main road".

[0050] In this embodiment, the road segment type of the first vehicle is determined based on the guide line, which can accurately determine whether the first vehicle is on the main road or the ramp. This makes it easier for the system to select the target vehicle by using different search ranges and logic based on the location of the first vehicle, thereby improving the accuracy and efficiency of target vehicle sampling.

[0051] In this embodiment of the application, detecting the average speed of the second vehicle on the road segment includes the following steps B1 to B3.

[0052] Step B1: Obtain the search range corresponding to the road segment type of the road segment where the first vehicle is located.

[0053] Specifically, the first vehicle determines the type of road segment it is on using its built-in positioning system and by recognizing lane lines and guide lines. If the segment is determined to be a highway main road (lanes 2 to 4), the search range for the first vehicle is defined as the left 1, left 2, and the lane it is currently in, based on the established rules. This is determined by the characteristics of vehicle distribution and driving rules on the main road, and prioritizing left lanes ensures a more comprehensive focus on target vehicles affecting the vehicle's movement. If the segment is determined to be a ramp, considering the lane layout and vehicle driving direction characteristics of the ramp, the search range for the first vehicle is set to its own lane and the lane to its right. This search range effectively covers target vehicles on the ramp that affect vehicle movement.

[0054] Step B2: Select at least one target vehicle in the road segment according to the search range, and detect the vehicle speed corresponding to each target vehicle.

[0055] Specifically, after determining the search area, the first vehicle uses its front camera to identify vehicles within that area. On the main road, following a left-first order, vehicles in the leftmost lane are first assessed. If a vehicle is present in that lane, it is filtered for targets. Vehicles that fail the filter are returned to target sampling for re-identification. Vehicles that pass the filter become target vehicles, and their speeds are acquired using sensors and marked. After processing the leftmost lane, vehicles in the leftmost lane and the lane where the first vehicle is located are processed in the same way. On the ramp, vehicles in the lane where the first vehicle is located and the rightmost lane are filtered for targets. Vehicles that fail the filter are returned to target sampling for re-identification, and those that pass the filter are marked. If necessary, the speeds of these vehicles are also acquired using sensors. In this embodiment, "marking" refers to the vehicle marking the selected target vehicles and their speeds.

[0056] Understandably, if the road segment type is a main road type, then the lane located to the left of the first vehicle's direction of travel is taken as the first search range; it is detected whether there is a first candidate vehicle that has passed the target screening within the first search range; if there is a first candidate vehicle within the first search range, then the first candidate vehicle is taken as the target vehicle; or, if there is no first candidate vehicle within the first search range, then the lane where the first vehicle is located is taken as the second search range, and it is detected whether there is a second candidate vehicle that has passed the target screening within the second search range; if there is a second candidate vehicle, then the second candidate vehicle is taken as the target vehicle.

[0057] When the first vehicle determines that the road segment it is on is a main road, it will determine the search range and select target vehicles according to a specific strategy. First, the lane to the left of the first vehicle's direction of travel is set as the first search range. Then, vehicles within this range are checked to see if there are any first candidate vehicles that meet the passage conditions. Once a first candidate vehicle is found in the first search range, it is directly selected as the target vehicle. This reflects the principle of prioritizing vehicles in the left lane, because when driving on a main road, the dynamics of vehicles in the left lane have a greater impact on the first vehicle's driving. If no first candidate vehicle is found in the first search range, the lane where the first vehicle is located is set as the second search range. The second search range is then checked to see if there are any second candidate vehicles that meet the passage conditions. If so, this second candidate vehicle is determined as the target vehicle, thus ensuring that in the main road driving scenario, target vehicles that are of significant reference value to the first vehicle's driving can be selected comprehensively and systematically.

[0058] Additionally, if the road segment type is a ramp type, a third search range is determined based on the number of lanes in the ramp; it is then detected whether a third candidate vehicle that has passed the target screening exists within the third search range; if a third candidate vehicle exists within the third search range, the third candidate vehicle is taken as the target vehicle.

[0059] When the first vehicle determines that the current road segment is a ramp, it will define the third search range based on the specific number of lanes within the ramp. Because different numbers of ramp lanes (e.g., single-lane or double-lane) affect the vehicle's driving environment and potential interference factors, the third search range needs to be reasonably determined based on the actual number of lanes. After determining the third search range, the first vehicle will check the vehicles within that range to see if there are any third candidate vehicles that meet the passage conditions. Once such a third candidate vehicle is found within the third search range, it will be selected as the target vehicle. This process demonstrates that in ramp driving scenarios, vehicles, based on their specific road environment, will specifically determine the search range and select target vehicles to better adapt to the characteristics of ramp driving and provide a reference for subsequent driving decisions.

[0060] Step B3: Calculate the average speed of the second vehicle based on the speed of each target vehicle.

[0061] Specifically, using various sensors equipped on the first vehicle, such as radar and cameras, the target vehicles are accurately identified. After identification, the speeds of these target vehicles are acquired and recorded. The speed values ​​of all recorded target vehicles are summed to obtain the total speed. Then, the number of target vehicles is counted, and the total speed is divided by the number of target vehicles. The result is the average speed of this batch of target vehicles, i.e., the average speed of the second vehicle. The calculated average speed is output, either displayed on the dashboard of the first vehicle or transmitted to the relevant control system of the first vehicle. At the same time, this average speed is saved as the "last recorded average speed" for the next calculation.

[0062] In this embodiment, detecting the average speed of the second vehicle on the road segment further includes: reselecting target vehicles at set intervals; and recalculating the average speed of the second vehicle based on the speed of each reselected target vehicle and the previously calculated average speed. For example, if 5 seconds have passed since the last calculation, the sensor is activated again to re-identify the target vehicles. After identifying the target vehicles, their speeds are acquired and recorded. The previously saved "average speed output from the last point" is added to the speed values ​​of all newly recorded target vehicles to obtain a new speed sum. The number of newly identified target vehicles is counted, and 1 is added (representing the previous average speed data). The new speed sum is divided by this total (number of newly identified target vehicles + 1) to obtain a new average speed. The newly calculated average speed is output in the same way as the initial calculation. Then, this new average speed overwrites the previously saved "average speed output from the last point," preparing for the next calculation (e.g., after 5 seconds).

[0063] By continuously repeating the cyclical calculation operation, the average speed of the previous calculation is taken into account each time, so that the calculated average speed is closer to the current traffic flow speed.

[0064] In addition, after selecting target vehicles, the speeds of these target vehicles are acquired using sensors, and the distances between the target vehicles and the current vehicle (i.e., the first vehicle) are simultaneously measured to calculate the relative speeds. Next, weights are assigned based on the distance between the target vehicles and the current vehicle, as well as the stability of their relative speeds. Target vehicles that are closer to the current vehicle and have stable relative speeds are assigned higher weights, while those that are farther away are assigned lower weights. Then, the speeds of each target vehicle are multiplied by their corresponding weights, summed, and divided by the total weights to calculate the average speed of the second vehicle. This average speed more accurately reflects the traffic flow speeds that directly affect the current vehicle's movement.

[0065] As an example, suppose this vehicle is traveling on a certain road segment and selects three target vehicles ahead, labeled as target vehicles A, B, and C. The sensor obtains that target vehicle A is traveling at a speed of 80 km / h, is 50 meters away from this vehicle, and has a stable relative speed of 10 km / h; target vehicle B is traveling at a speed of 75 km / h, is 80 meters away from this vehicle, and has a relative speed that fluctuates to some extent, around 5 km / h; target vehicle C is traveling at a speed of 85 km / h, is 120 meters away from this vehicle, and has a relatively large relative speed variation, with an average relative speed of 15 km / h.

[0066] Weights are assigned based on distance and relative speed stability: Target vehicle A is relatively close and has a stable relative speed, so it is assigned a weight of 0.5. Target vehicle B is at a moderate distance and has a relatively stable relative speed, so it is assigned a weight of 0.3. Target vehicle C is relatively far away and has a large variation in relative speed, so it is assigned a weight of 0.2.

[0067] The target average value is calculated as follows: (80×0.5+75×0.3+85×0.2):(0.5+0.3+0.2)=79.5. Therefore, the calculated target average value is 79.5km / h, which more accurately reflects the traffic speed that directly affects the vehicle's driving speed, allowing the vehicle to set its own speed more reasonably.

[0068] Step S103: Based on the map speed limit, speed limit detection results, and average speed, set the target driving speed of the first vehicle on the road segment.

[0069] In this embodiment of the application, the target driving speed of the first vehicle on the road segment is set according to the map speed limit, speed limit detection results and average speed, as shown in Figure 4, including the following steps C1 to C3.

[0070] Step C1: If the speed limit detection result includes the road segment speed limit, then analyze the relative size relationship between the road segment speed limit and the map speed limit.

[0071] Specifically, if the speed limit detection results indicate the existence of a speed limit on a road segment, the first step is to obtain the road segment speed limit value identified by the camera and the map speed limit value obtained from the high-precision map. These two speed limit values ​​are then compared and analyzed using a predetermined comparison method (such as comparing differences, comparing magnitudes, etc.) to clarify the relative magnitude relationship between the road segment speed limit and the map speed limit.

[0072] Step C2: Select a baseline speed from the road segment speed limit and the map speed limit based on the relative size relationship.

[0073] In this embodiment of the application, the selection of a reference speed from the road segment speed limit and the map speed limit based on the relative size relationship includes: if the relative size relationship is that the road segment speed limit is less than the map speed limit, and the map speed limit is less than or equal to a first speed threshold, then the map speed limit is used as the reference speed. The first speed threshold is calculated by the road segment speed limit and a first coefficient, and the first coefficient is greater than 1.

[0074] It should be noted that when comparative analysis shows that the road segment speed limit is lower than the map speed limit, and the map speed limit is less than or equal to the first speed threshold calculated by combining the road segment speed limit with a first coefficient (which can be 1.1), the system will set the map speed limit as the base speed in order to more reasonably set vehicle speeds while adhering to certain speed limit rules. This approach considers both the road segment speed limits identified by actual road cameras and the map speed limit information provided by high-precision maps. Using the map speed limit as the base speed to guide vehicle travel, while ensuring that the speed does not exceed the first speed threshold calculated based on the road segment speed limit, helps to balance the actual road speed limit requirements with the speed settings in the overall traffic environment.

[0075] In this embodiment, the initial value of the first coefficient can be determined based on the road's design standards and type. For example, a relatively large initial value can be assigned to highways with higher design speeds, while a smaller initial value can be assigned to rural roads and other roads with lower design speeds. The initial value of the first coefficient can be adjusted using real-time traffic flow data. If a road segment experiences severe traffic congestion and slow vehicle speeds during peak hours, the first coefficient should be appropriately reduced to ensure driving safety and smooth traffic flow; conversely, if traffic flow is low and smooth during off-peak hours, the first coefficient should be appropriately increased. The first coefficient can also be adjusted using weather and road condition information. In adverse weather conditions such as rain, snow, or fog, or when the road has many sharp bends or steep slopes, the first coefficient should be reduced to limit vehicle speed and enhance safety; in good weather and with flat road conditions, the first coefficient can be appropriately increased. Taking all the above adjustment factors into account, and combining relevant data such as vehicle type and performance, the first coefficient is fine-tuned and then the final determined first coefficient is output for use in calculating the first speed threshold.

[0076] If the relative size relationship is that the map speed limit is less than the road segment speed limit, and the map speed limit is greater than or equal to the second speed threshold, then the road segment speed limit is used as the base speed. The second speed threshold is calculated by the road segment speed limit and the second coefficient, and the second coefficient is less than 1.

[0077] It should be noted that after analyzing the relative magnitudes of the road segment speed limit and the map speed limit, if the map speed limit is found to be lower than the road segment speed limit, and the map speed limit is greater than or equal to the second speed threshold (where the second speed threshold is calculated by the road segment speed limit and a second coefficient less than 1), the system will determine the road segment speed limit as the base speed to ensure that the vehicle speed takes into account both map information and the actual road speed limit requirements. This decision comprehensively considers the theoretical speed limit (second speed threshold) adjusted by coefficients, the map speed limit, and the road segment speed limit identified by cameras on the actual road. Under this specific speed limit relationship, selecting the road segment speed limit as the base speed allows the vehicle to better adapt to actual road conditions.

[0078] In this embodiment, the initial value of the second coefficient can be determined based on the surrounding environmental conditions of the road. If there are schools, hospitals, residential areas, or other areas with strict speed limits nearby, a larger initial value can be set; if the surrounding area is an open industrial zone or a rural road, a relatively smaller initial value can be set. The initial value of the second coefficient can be adjusted using special regulations and policies of traffic management departments. For example, some road sections have special speed limits, or traffic control is implemented during specific time periods; the second coefficient can be adjusted accordingly based on these regulations and policies. Historical traffic accident data for the road section can also be used to adjust the second coefficient. If a road section has a history of many accidents caused by excessive speed, the second coefficient can be increased to more strictly limit speed; if accidents are few and not significantly related to speed, the second coefficient can be appropriately decreased. Taking into account factors such as the completeness of road traffic facilities and the average vehicle speed, the second coefficient is finely adjusted and the final second coefficient is output for calculating the second speed threshold.

[0079] In this embodiment of the application, if the relative size relationship is that the road segment speed limit is less than the map speed limit and the map speed limit is greater than the first speed threshold, then the map speed limit is used as the reference speed. If the relative size relationship is that the map speed limit is less than the road segment speed limit and the map speed limit is less than the second speed threshold, then the road segment speed limit is used as the reference speed.

[0080] In this embodiment, when the speed difference between the road segment speed limit and the map speed limit is less than a set value (e.g., 10% of the road segment speed limit), the larger of the road segment speed limit and the map speed limit is selected as the base speed. When the speed difference between the road segment speed limit and the map speed limit is greater than a set value (e.g., 10% of the road segment speed limit), the larger of the road segment speed limit and the map speed limit is also selected as the base speed.

[0081] Step C3: Set the target driving speed based on the relative size relationship, the reference speed, and the average speed.

[0082] In this embodiment of the application, setting the target driving speed based on the relative size relationship, the reference speed, and the average speed includes: if the relative size relationship is that the map speed limit is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, then the reference speed is used as the target driving speed; if the relative size relationship is that the map speed limit is greater than the first speed threshold or less than the second speed threshold, then the number of target vehicles included in the second vehicle is determined, and the target driving speed is determined based on the number of target vehicles, the reference speed, and the average speed.

[0083] Specifically, when the map speed limit is less than or equal to the first speed threshold and greater than or equal to the second speed threshold (i.e., the speed difference between the map speed limit and the road segment speed limit is less than a set value (e.g., 10% of the road segment speed limit), the base speed (i.e., the larger of the map speed limit and the road segment speed limit) is used as the target driving speed. When the map speed limit is greater than the first speed threshold or less than the second speed threshold (i.e., the speed difference between the map speed limit and the road segment speed limit is greater than a set value (e.g., 10% of the road segment speed limit), the number of current target vehicles is determined, and the target driving speed is determined based on the number of target vehicles, the base speed, and the average speed.

[0084] In this embodiment of the application, setting the target driving speed based on the number of target vehicles, the reference speed, and the average speed includes: if the second vehicle includes only one target vehicle, then the larger of the reference speed and the average speed is selected as the target driving speed; if the second vehicle includes at least two target vehicles, then the average speed is used as the target driving speed.

[0085] Specifically, when the speed difference between the map speed limit and the road segment speed limit is greater than a set value (e.g., 10% of the road segment speed limit), the number of target vehicles is determined. If there is only one target vehicle, the base speed and the average speed (i.e., the current speed of the target vehicle) are compared, and the larger of the base speed and the average speed is selected as the target driving speed. If there are two or more target vehicles, the current average speed is directly used as the target driving speed, that is, the speed of surrounding target vehicles is given priority, making the speed selection more reasonable.

[0086] In addition, this application embodiment also provides a method for setting vehicle speed, in which a first comparison result is obtained by comparing the road segment speed limit with the average speed of the second vehicle when there is no map speed limit.

[0087] The system compares the current speed limit for a road segment with the average speed calculated based on the speeds of the target vehicles. For example, if the current speed limit is 60 km / h, and there are three target vehicles with speeds of 55 km / h, 62 km / h, and 65 km / h respectively, the calculated average speed would be approximately 60.667 km / h. The system compares the current speed limit of 60 km / h with this average speed of 60.667 km / h. Through this comparison, the system obtains a primary result reflecting the relationship between the two speed limits. This result indicates whether the average speed is less than or greater than the speed limit, providing crucial information for subsequent decision-making.

[0088] The target driving speed is determined based on the first comparison result.

[0089] Specifically, determining the target driving speed based on the first comparison result includes: if the first comparison result is that the average speed is less than the road segment speed limit, then the road segment speed limit is taken as the target driving speed; or, if the first comparison result is that the average speed is greater than the road segment speed limit, and only one target vehicle has a speed greater than the road segment speed limit, then the product of the road segment speed limit and a third coefficient is taken as the target driving speed, wherein the third coefficient is greater than 1; or, if the first comparison result is that the average speed is greater than the road segment speed limit, and at least two target vehicles have speeds greater than the road segment speed limit, then the average speed of the second vehicle is taken as the target driving speed.

[0090] It should be noted that, ① when the first comparison result shows that the average speed of the target vehicle is less than the road speed limit, in order to ensure that the first vehicle's driving complies with the road speed limit while also ensuring a certain level of traffic efficiency, the system will directly use the road speed limit as the target driving speed. For example, if the road speed limit is 80 km / h and the average speed of the target vehicle is 75 km / h, then the target driving speed will be set to 80 km / h.

[0091] ② If the first comparison result indicates that the average speed of the second vehicle is greater than the road segment speed limit, and only one target vehicle's speed is greater than the road segment speed limit, the system will multiply the road segment speed limit by the third coefficient and use the product as the target speed. The third coefficient is set to reasonably adjust the target speed in cases where some vehicles are traveling at higher speeds, neither being overly affected by a few high-speed vehicles nor completely ignoring this situation. Assuming the road segment speed limit is 70 km / h and the third coefficient is 1.05, when the average speed of the second vehicle is greater than the road segment speed limit, and only one target vehicle's speed is greater than 70 km / h, the target speed will be 70 × 1.05 = 73.5 km / h.

[0092] ③ If the first comparison result shows that the average speed of the second vehicle is greater than the speed limit of the road segment, and at least two target vehicles have speeds greater than the speed limit of the road segment, this means that the overall speed of the current traffic flow is relatively fast. In this case, the system will use the average speed of the second vehicle as the target driving speed. For example, if the speed limit of the road segment is 65 km / h, and there are 3 target vehicles with speeds of 68 km / h, 70 km / h, and 72 km / h respectively, the calculated average speed of these three target vehicles is approximately 70 km / h. That is, the average speed of the second vehicle is 70 km / h, so the target driving speed is set to 70 km / h to better adapt to the actual speed of the traffic flow.

[0093] In this embodiment, when there is a speed limit on a road segment, the relative magnitude of the road segment speed limit and the map speed limit is analyzed, and a base speed is selected according to specific rules (such as considering a first speed threshold, a second speed threshold, and corresponding coefficients). This allows for a comprehensive analysis of actual road sign speed limit information and map speed limit information, reasonably determining the initial control speed and avoiding deviations caused by relying solely on a single speed limit data. Furthermore, by comparing the road segment speed limit with the average speed of the second vehicle, and based on different comparison results (average speed less than the road segment speed limit, average speed greater than the road segment speed limit and only one target vehicle's speed greater than the road segment speed limit, average speed greater than the road segment speed limit and at least two vehicles' speeds greater than the road segment speed limit), the base speed is updated using corresponding rules to obtain the target driving speed. This fully considers the actual speed of traffic flow, ensuring that the first vehicle's driving speed both complies with speed limits and adapts to traffic flow, effectively preventing speeding or low traffic efficiency due to unreasonable speeds, ensuring driving safety, and improving the smoothness of road traffic.

[0094] The method provided in this application integrates map speed limits and speed limit sign detection results to more clearly define road speed limits; it also detects the average speed of a second vehicle to provide a reference for the actual speed of traffic flow when setting speed limits. Furthermore, in addressing the issue of speed limit discrepancies, it acquires multi-source speed limit data, comprehensively collecting information on different speed limits. When the map speed limit differs from the identified road segment speed limit, it comprehensively analyzes the map speed limit, speed limit detection results, and average speed to set a target driving speed according to predetermined rules. This allows for intelligent and reasonable selection of the vehicle's set speed (target driving speed), effectively preventing speeding or unreasonable speeds that could affect traffic flow, thus improving driving safety and road traffic efficiency.

[0095] In this embodiment of the application, setting the target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed includes: if the speed limit detection result does not include the road segment speed limit, then determining the number of target vehicles included in the second vehicle; and setting the target driving speed of the first vehicle on the road segment based on the number of target vehicles, the map speed limit, and the average speed.

[0096] In this embodiment of the application, if the second vehicle includes only one target vehicle, the larger of the map speed limit and the average speed is taken as the target driving speed; if the second vehicle includes at least two target vehicles, the average speed is taken as the target driving speed.

[0097] When there is no road speed limit, first determine the number of target vehicles. When there is only one target vehicle, select the larger of the map speed limit and the average speed as the target driving speed. If there are two or more target vehicles, directly use the average speed as the target driving speed, giving priority to the speed of surrounding target vehicles to make the speed selection more reasonable.

[0098] In another embodiment of this application, the target driving speed of the first vehicle on the road segment is set according to the map speed limit, the speed limit detection result and the average speed, as shown in Figure 5, including the following steps D1 to D2.

[0099] Step D1: If the speed limit detection result does not include the road segment speed limit, then compare the map speed limit with the average speed of the second vehicle to obtain the second comparison result.

[0100] Specifically, when the speed limit detection result shows that no speed limit identified by the camera was detected on the current road segment (i.e., there is no clear actual speed limit signage), the system will compare the high-precision map speed limit with the average speed of the second vehicle. Specifically, the system will compare the map speed limit value with the average speed of the second vehicle calculated based on the speeds of each target vehicle. For example, if the high-precision map shows the current road segment's speed limit as 80 km / h, and there are four target vehicles with speeds of 70 km / h, 75 km / h, 82 km / h, and 85 km / h respectively, the calculated average speed of the second vehicle is 78 km / h. The system will then compare 80 km / h with the average speed of 78 km / h. Through this comparison process, a second comparison result reflecting the relationship between the map speed limit and the average speed of the second vehicle is obtained.

[0101] Step D2: Based on the second comparison result, set the target driving speed of the first vehicle on the road segment.

[0102] Specifically, setting the target speed of the first vehicle on the road segment based on the second comparison result includes: if the second comparison result is that the average speed is less than the map speed limit, then the map speed limit is used as the target speed; or, if the second comparison result is that the average speed is greater than the map speed limit, and only one target vehicle has a speed greater than the map speed limit, then the product of the map speed limit and a third coefficient is used as the target speed, wherein the third coefficient is greater than 1; or, if the second comparison result is that the average speed is greater than the map speed limit, and at least two target vehicles have speeds greater than the map speed limit, then the average speed of the second vehicle is used as the target speed.

[0103] It should be noted that, ① if the second comparison result shows that the average speed of the second vehicle is less than the speed limit provided by the high-precision map, in order to ensure that the speed of the first vehicle meets the speed limit indicated by the map in the absence of actual road speed limit signs, the system will directly set the map speed limit as the target speed. For example, if the map speed limit is 90 km / h and the average speed of the second vehicle is 85 km / h, then the target speed will be determined to be 90 km / h.

[0104] ② When the second comparison result shows that the average speed is greater than the map speed limit, and only one target vehicle's speed is greater than the map speed limit, the system will multiply the map speed limit by the third coefficient, and use the product as the target speed. The third coefficient is set to reasonably adjust the target speed when individual target vehicles are traveling at higher speeds, avoiding excessive influence from a few high-speed vehicles while appropriately considering such speed differences. Assuming the map speed limit is 100 km / h and the third coefficient is 1.03, when the average speed is greater than the map speed limit, and only one target vehicle's average speed is greater than 100 km / h, the target speed would be 100 × 1.03 = 103 km / h.

[0105] ③ If the second comparison result shows that the average speed is greater than the map speed limit, and at least two target vehicles have speeds greater than the map speed limit, this indicates that the overall traffic flow speed on the current road segment is relatively high. In this case, the system will use the average speed of the second vehicle as the target driving speed. For example, if the map speed limit is 110 km / h, and there are 3 target vehicles with speeds of 112 km / h, 115 km / h, and 118 km / h respectively, the calculated average speed of these 3 target vehicles (i.e., the average speed of the second vehicle) is approximately 115 km / h. Therefore, the target driving speed is set to 115 km / h. This setting better adapts to the actual traffic flow speed, making the first vehicle's journey smoother.

[0106] In this embodiment, when the speed limit detection result does not show the road segment speed limit, a second comparison result is obtained by comparing the map speed limit with the average speed of the second vehicle, and a target driving speed is set accordingly, which has significant beneficial effects. On the one hand, it comprehensively considers the map speed limit and the actual traffic flow speed. When the average speed is less than the map speed limit, the map speed limit is adopted to ensure that the first vehicle drives in compliance with regulations. On the other hand, for different speed comparison situations, such as when the average speed is greater than the map speed limit and only one target vehicle's speed is greater than the map speed limit, the map speed limit and a third coefficient are multiplied as the target driving speed; when the average speed is greater than the map speed limit and at least two target vehicles' speeds are greater than the map speed limit, the average speed of the second vehicle is directly adopted as the target driving speed. This allows the speed setting of the first vehicle to be more in line with the actual traffic flow conditions, avoiding low traffic efficiency or safety hazards caused by unreasonable speed settings, effectively improving driving safety and road traffic efficiency, and ensuring that the first vehicle can drive reasonably even when there are no clear road segment speed limit signs.

[0107] The following is a complete example of a vehicle speed setting method provided in the embodiments of this application, including the following steps 1 to 4, illustrated on a highway section.

[0108] Step 1: The vehicle activates the Navigate On Autopilot (NOA) function. The sensing sensors identify speed limit signs and obtain the speed limit value of the road segment. The high-precision map obtains the map speed limit value of the current area of ​​the vehicle through the cloud. The road segment speed limit value and the map speed limit value are output to the Electronic Control Unit (ECU) for comparison. After the difference is calculated, the result is output. If the map speed limit Vm is greater than the road segment speed limit Vt but does not exceed 10%, the speed limit of the high-precision map is used for control. If the map speed limit Vm is less than the road segment speed limit Vt but does not exceed 10%, the speed limit of the road segment identified by the camera is used for control. If the difference between the map speed limit Vm and the road segment speed limit Vt exceeds 10%, the control logic continues to be executed.

[0109] Step 2: Obtain vehicle location information from the cloud and input it into the location matching and judgment module. Obtain at least one lane line in the road segment where the vehicle is located. Use an instance-based segmentation lane line detection method to mark each lane line as a unique instance. Determine whether the lane line is a guide line based on its shape, position, and direction after segmentation and marking. If the detected lane line is not a guide line, return to instance-based segmentation lane line detection; if the lane line is identified as a guide line, proceed to location judgment. If it is determined that none of the lane lines are guide lines, the vehicle location is considered to be on the main road. If it is confirmed that a lane line is a guide line and the guide line is on the left side of the vehicle, the vehicle location is considered to be on a ramp. If it is confirmed that a lane line is a guide line and the guide line is on the right side of the vehicle, the vehicle location is considered to be on the main road. Output the current result and match it with a high-precision map.

[0110] Step 3: Target sampling is performed. In this embodiment, target vehicle identification is performed every set time, such as 5 seconds. All vehicles that pass the target screening and can be identified by the front camera are taken as target vehicles. Vehicles that fail the target screening and new vehicles are re-identified. On the main road, vehicles in the left 1, left 2, and the vehicle's own lane are identified and selected, with left lanes taking precedence. Vehicles that fail the screening are returned to the target sampling for re-identification and selection. For target vehicles that pass the screening, the sensor takes the vehicle's speed and marks it (applicable to 2 to 4 lanes on highways). On ramps, the vehicles to be identified are determined according to the number of ramps (e.g., single lane or double lane). For example, when the ramp is a single lane, vehicles in the lane where the vehicle is located are identified; when the ramp is a double lane, vehicles in the lane where the vehicle is located and the right lane are identified. Vehicles that fail the target screening are returned to the target sampling for re-identification and selection. Vehicles that pass the screening are marked. The average speed of the marked target vehicles is calculated and output. The average speed of the target vehicles is also included in the calculation of the average speed of the re-identified target vehicles in the next calculation (5 seconds later).

[0111] Step 4: Compare the speed limit on the high-precision map, the average speed of the target vehicle, and the speed limit on the road identified by the camera. When a camera detects a road speed limit, the average speed is compared with the speed limit detected by the camera. If the average speed is less than the speed limit, the vehicle's set speed is the speed limit. If the average speed is greater than the speed limit, and a single target vehicle's speed is greater than the speed limit, the average speed not exceeding 10% of the speed limit detected by the camera is used as the vehicle's set speed. If the average speed is greater than the speed limit, and multiple target vehicles (two or more) are greater than the speed limit, the average speed is used directly as the vehicle's set speed. When no camera detects a road speed limit, the average speed is compared with the speed limit on a high-precision map. If the average speed is less than the high-precision map speed limit, the vehicle's set speed is the high-precision map speed limit. If the average speed is greater than the high-precision map speed limit, and a single target vehicle's speed is greater than the high-precision map speed limit, the average speed not exceeding 10% of the map speed limit is used as the vehicle's set speed. If the average speed is greater than the high-precision map speed limit, and multiple target vehicles (two or more) are greater than the high-precision map speed limit, the average speed is used directly as the vehicle's set speed. The vehicle's set speed is adjusted based on the comparison results.

[0112] This embodiment also provides a vehicle speed setting device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also contemplated.

[0113] This embodiment provides a vehicle speed setting device 500, as shown in FIG6, including: an acquisition module 501 configured to acquire the map speed limit corresponding to the road segment where the first vehicle is located, and the speed limit detection result obtained by detecting the speed limit sign of the road segment; a detection module 502 configured to detect the average speed of a second vehicle in the road segment, wherein the second vehicle includes at least one target vehicle traveling around the first vehicle; and a speed setting module 503 configured to set the target driving speed of the first vehicle in the road segment based on the map speed limit, the speed limit detection result, and the average speed.

[0114] In this embodiment of the application, the device further includes: a matching module configured to acquire lane line features of at least one lane line in the road segment where the first vehicle is located; match the lane line features with preset features to obtain a matching result, wherein the preset features are features of guide lines; and determine the road segment type of the road segment where the first vehicle is located based on the matching result.

[0115] In this embodiment of the application, the detection module 502 is configured to obtain the search range corresponding to the road segment type of the road segment where the first vehicle is located; select at least one target vehicle in the road segment according to the search range; detect the vehicle speed corresponding to each target vehicle; and calculate the average speed of the second vehicle based on the vehicle speed of each target vehicle.

[0116] In this embodiment of the application, the detection module 502 is further configured to reselect the target vehicle at set intervals; and to recalculate the average speed of the second vehicle based on the vehicle speed of each reselected target vehicle and the average speed calculated last time.

[0117] In this embodiment of the application, the speed setting module 503 includes: a first analysis submodule, configured to analyze the relative size relationship between the road segment speed limit and the map speed limit if the speed limit detection result includes a road segment speed limit; a selection submodule, configured to select a reference speed from the road segment speed limit and the map speed limit based on the relative size relationship; and a first speed setting submodule, configured to set the target driving speed based on the relative size relationship, the reference speed, and the average speed.

[0118] In this embodiment, a submodule is selected and configured such that if the relative size relationship is that the road segment speed limit is less than the map speed limit, and the map speed limit is less than or equal to a first speed threshold, then the map speed limit is used as the base speed. The first speed threshold is calculated by the road segment speed limit and a first coefficient, where the first coefficient is greater than 1. If the relative size relationship is that the road segment speed limit is less than the map speed limit, and the map speed limit is greater than the first speed threshold, then the map speed limit is used as the base speed. If the relative size relationship is that the map speed limit is less than the road segment speed limit, and the map speed limit is greater than or equal to a second speed threshold, then the road segment speed limit is used as the base speed. The second speed threshold is calculated by the road segment speed limit and a second coefficient, where the second coefficient is less than 1. If the relative size relationship is that the map speed limit is less than the road segment speed limit, and the map speed limit is less than the second speed threshold, then the road segment speed limit is used as the base speed.

[0119] In this embodiment of the application, the first speed setting submodule is configured to: if the relative size relationship is that the map speed limit is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, then use the reference speed as the target driving speed; if the relative size relationship is that the map speed limit is greater than the first speed threshold or less than the second speed threshold, then determine the number of target vehicles included in the second vehicle, and determine the target driving speed based on the number of target vehicles, the reference speed, and the average speed.

[0120] In this embodiment of the application, the first speed setting submodule is further configured to select the larger of the reference speed and the average speed as the target driving speed if the second vehicle includes only one target vehicle; and to use the average speed as the target driving speed if the second vehicle includes at least two target vehicles.

[0121] In this embodiment of the application, the speed setting module 503 includes: a second analysis submodule configured to determine the number of target vehicles included in the second vehicle if the speed limit detection result does not include the road segment speed limit; and a second speed setting submodule configured to set the target driving speed of the first vehicle on the road segment based on the number of target vehicles, the map speed limit, and the average speed.

[0122] In this embodiment of the application, the second speed setting submodule is configured to, if the second vehicle includes only one target vehicle, use the larger of the map speed limit and the average speed as the target driving speed; if the second vehicle includes at least two target vehicles, use the average speed as the target driving speed.

[0123] This application provides a vehicle, including a vehicle body and a controller. The controller stores control commands, and executes the above-described method by executing the control commands.

[0124] Please refer to Figure 7, which is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application. As shown in Figure 7, the computer device includes: one or more processors 10, a memory 20, and a communication interface 30 for connecting the various components, including a high-speed interface and a low-speed interface. The various components communicate with each other using different buses and can be installed on a common motherboard or otherwise as needed. The processor can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories if needed. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 uses one processor 10 as an example.

[0125] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0126] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0127] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0128] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0129] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0130] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0131] This application also provides a computer program product, including a computer program that, when executed by at least one processor, implements the methods described in the above embodiments.

[0132] The foregoing has provided a detailed description of preferred embodiments of this application, but this application is not limited to these embodiments. Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for setting vehicle speed, comprising: Obtain the map speed limit corresponding to the road segment where the first vehicle is located, and the speed limit detection result obtained by detecting the speed limit sign of the road segment; The average speed of the second vehicle under the road segment is detected, wherein the second vehicle includes at least one target vehicle traveling around the first vehicle; Based on the map speed limit, the speed limit detection result, and the average speed, the target driving speed of the first vehicle on the road segment is set.

2. The method of claim 1, wherein, The detection of the average speed of the second vehicle on the road segment includes: Obtain the search range corresponding to the road segment type where the first vehicle is located; Select at least one target vehicle in the road segment according to the search range; Detect the vehicle speed corresponding to each of the target vehicles; and The average speed of the second vehicle is calculated based on the vehicle speed of each of the target vehicles.

3. The method of claim 2, wherein, Determining the road segment type where the first vehicle is located includes: Obtain the lane line features of at least one lane line in the road segment where the first vehicle is located; The lane line features are matched with preset features to obtain a matching result, wherein the preset features are the features of the guide line; The road segment type of the first vehicle is determined based on the matching results.

4. The method of claim 2, wherein, The method of detecting the average speed of the second vehicle on the road segment further includes: At set time intervals, the target vehicle is reselected; and The average speed of the second vehicle is recalculated based on the vehicle speeds of the newly selected target vehicles and the average speed calculated previously.

5. The method according to any one of claims 1 to 4, wherein, The step of setting the target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed includes: If the speed limit detection result includes road segment speed limits, then analyze the relative magnitude relationship between the road segment speed limits and the map speed limits; A baseline speed is selected from the road segment speed limit and the map speed limit based on the relative size relationship; The target driving speed is set based on the relative size relationship, the reference speed, and the average speed.

6. The method of claim 5, wherein, The step of selecting a reference speed from the road segment speed limit and the map speed limit based on the relative size relationship includes: If the relative size relationship is that the speed limit of the road segment is less than the speed limit of the map, and the speed limit of the map is less than or equal to a first speed threshold, then the speed limit of the map is used as the reference speed. The first speed threshold is calculated by the speed limit of the road segment and a first coefficient, where the first coefficient is greater than 1. If the relative size relationship is that the speed limit of the road segment is less than the speed limit of the map, and the speed limit of the map is greater than the first speed threshold, then the speed limit of the map is used as the reference speed. If the relative size relationship is that the map speed limit is less than the road segment speed limit, and the map speed limit is greater than or equal to the second speed threshold, then the road segment speed limit is used as the base speed. The second speed threshold is calculated by the road segment speed limit and a second coefficient, where the second coefficient is less than 1. If the relative size relationship is such that the map speed limit is less than the road segment speed limit, and the map speed limit is less than the second speed threshold, then the road segment speed limit is used as the reference speed.

7. The method of claim 6, wherein, Setting the target driving speed based on the relative size relationship, the reference speed, and the average speed includes: If the relative size relationship is such that the map speed limit is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, then the reference speed is taken as the target driving speed; If the relative size relationship is such that the map speed limit is greater than the first speed threshold or less than the second speed threshold, then the number of target vehicles included in the second vehicle is determined, and the target driving speed is determined based on the number of target vehicles, the reference speed, and the average speed.

8. The method of claim 7, wherein, Setting the target driving speed based on the number of target vehicles, the reference speed, and the average speed includes: If the second vehicle includes only one target vehicle, then the larger of the reference speed and the average speed is selected as the target driving speed; If the second vehicle includes at least two target vehicles, then the average speed is taken as the target driving speed.

9. The method according to any one of claims 1 to 4, wherein, The step of setting the target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed includes: If the speed limit detection result does not include the road section speed limit, then the number of target vehicles included in the second vehicle is determined; The target speed of the first vehicle on the road segment is set based on the number of target vehicles, the map speed limit, and the average speed.

10. The method of claim 9, wherein, Setting the target speed of the first vehicle on the road segment based on the number of target vehicles, the map speed limit, and the average speed includes: If the second vehicle includes only one target vehicle, then the larger of the map speed limit and the average speed shall be taken as the target driving speed; If the second vehicle includes at least two target vehicles, then the average speed is taken as the target driving speed.

11. A vehicle speed setting device, comprising: The acquisition module is configured to acquire the map speed limit corresponding to the road segment where the first vehicle is located, and the speed limit detection result obtained by detecting the speed limit sign of the road segment; The detection module is configured to detect the average speed of a second vehicle on the road segment, wherein the second vehicle includes at least one target vehicle traveling around the first vehicle; The analysis module is configured to set the target driving speed of the first vehicle on the road segment based on the map speed limit, the speed limit detection result, and the average speed.

12. A vehicle comprising: The vehicle body and the controller, the controller storing control instructions, the controller executing the control instructions to perform the method of any one of claims 1 to 10.

13. A computer device, comprising: At least one processor; as well as At least one memory connected with the at least one processor, the at least one memory storing computer executable instructions, the at least one processor configured to read the computer executable instructions from the at least one memory and execute the computer executable instructions to implement the method of any one of claims 1-10.

14. A non-transitory computer-readable storage medium, wherein, The non-transitory computer readable storage medium stores computer executable instructions that, when executed by at least one processor, implement the method of any one of claims 1-10.

15. A computer program product comprising a computer program which, when executed by at least one processor, implements the method of any one of claims 1-10.

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