CN108573611A - A kind of speed limit mark fusion method and speed limit identify emerging system - Google Patents
A kind of speed limit mark fusion method and speed limit identify emerging system Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims abstract description 30
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- 238000004590 computer program Methods 0.000 claims description 11
- 238000007596 consolidation process Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 6
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- 238000001514 detection method Methods 0.000 description 7
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The present invention relates to speed limit mark fusion methods and speed limit to identify emerging system.This method includes the following steps：First speed limit obtaining step obtains road speed-limiting messages as the first speed-limiting messages from digital map navigation information；Second speed limit obtaining step identifies road speed-limiting messages as the second speed-limiting messages using camera；Third speed limit obtaining step, using vehicle movement information in radar perception environment as acquisition third speed-limiting messages；And fusion steps, one or two or more in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages is merged and as current speed-limiting messages and is exported.In accordance with the invention it is possible to obtain more accurate current speed-limiting messages.
Description
Technical field
The present invention relates to vehicle control technologies, and in particular to a kind of speed limit mark fusion method and speed limit mark fusion system
System.
Background technology
The longitudinally controlled of automatic Pilot data can be controlled with the speed limit identification information that camera captures according to the map at present
The Maximum speed limit of automobilism.
For example, disclosing a kind of speed limit index identification method and system in patent application CN105160919A.The limit
Fast index identification method includes the following steps：Image is obtained by vehicle-mounted camera；According to the road speed(-)limit sign pre-established
Database is searched and the matched speed limit data of described image institute；If finding matched speed limit data, current vehicle row is obtained
It sails speed and sends out hypervelocity alarm according to the speed limit data and driver is prompted；If not finding matched speed limit data,
Then described image is identified by wireless network upload server；It obtains server and identifies successful speed limit data, update
To the road speed(-)limit sign database.
However, easily being influenced and being identified to be stained by weather since map datum has update defect not in time and camera
The problems such as influence and the defect that causes identification inaccurate so that acquired real-time speed limit is mismatched with current operation road.
Invention content
In view of described problem, the present invention is directed to propose a kind of speed limit mark that can correctly obtain road speed limit identification information
Know emerging system and speed limit identifies fusion method.
To solve the above-mentioned problems, the road speed limit identification information that vehicle is captured with map datum and camera in the present invention
Based on, the movable information that vehicle is run around millimetre-wave radar detection is added, to confirm that the rational road of present road limits
Speed.Though camera can also provide the movable information of front truck, the limited amount and movable information precision of its detection are also not as good as milli
Metre wave radar makes moreover, cartographic information identifies identification information in the presence of certain non-timely with inaccuracy with camera speed limit
The speed limit environment speed that must be obtained mismatches.
The speed limit of an aspect of of the present present invention identifies fusion method, which is characterized in that includes the following steps：
First speed limit obtaining step obtains road speed-limiting messages as the first speed limit using navigation device from digital map navigation information
Information；
Second speed limit obtaining step identifies road speed-limiting messages as the second speed-limiting messages using camera；
Third speed limit obtaining step, using vehicle movement information in radar perception environment as acquisition third speed-limiting messages；And
Fusion steps, by one in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages,
Or two or more merge and as current speed-limiting messages and export.
Optionally, the priority of fusion is set in the fusion steps,
The priority of the fusion is that override limits first speed-limiting messages, second speed-limiting messages and the third
Fast information three melts Consolidation of Arbitration thrin as current speed-limiting messages, and secondary is by first speed-limiting messages and described
Both two speed-limiting messages melt Consolidation of Arbitration one of both as current speed-limiting messages, most it is secondary be by first speed-limiting messages or
The second speed-limiting messages are as current speed-limiting messages described in person.
Optionally, in the third speed limit obtaining step, the movable information of the front vehicles of this vehicle traffic direction is detected
As third speed-limiting messages.
Optionally, it in the third speed limit obtaining step, acquires and is divided into multiple regions in front of this vehicle traffic direction, indulge
Horizontal both direction indicates with individual weight respectively,
Wherein, lateral weight is with this front side vehicle for main references object, and weighted value is larger, supplemented by the vehicle in both sides track
References object is helped, if in the case of there are a plurality of track, weighted value is gradually reduced to both sides,
Longitudinal weight is with along lane line direction, the weighted value close to the vehicle of this vehicle is larger, and weighted value is with a distance from this vehicle
Increase and reduces.
Optionally, the movement velocity v of the front vehicles of this vehicle traffic direction is calculated according to following formula as third speed limit
Information,
,
Wherein,:For a certain speed with reference to vehicle,
：The weight of upward reference vehicle is indulged for a certain region,
：It is laterally upper some region of with reference to weight.
The speed limit of an aspect of of the present present invention identifies emerging system, which is characterized in that has：
Navigation device, for obtaining road speed-limiting messages from digital map navigation information as the first limit speed-limiting messages；
Camera, road speed-limiting messages are as the second speed-limiting messages for identification；
Radar installations, for perceiving vehicle movement information in environment and calculating as acquisition third speed-limiting messages；And fusion dress
Set, by one or two in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages with
It is upper fusion and as current speed-limiting messages and export.
Optionally, the priority of fusion is set in the fusing device,
The priority of the fusion is that override limits first speed-limiting messages, second speed-limiting messages and the third
Fast information three fusion and arbitrate thrin as current speed-limiting messages, secondary is by first speed-limiting messages and described the
Both two speed-limiting messages merge and arbitrate one of both as current speed-limiting messages, most it is secondary be by first speed-limiting messages or
The second speed-limiting messages are as current speed-limiting messages described in person.
Optionally, the radar installations includes：
Radar, the movement velocity of the front vehicles for detecting this vehicle traffic direction；And
Computing module, the movement velocity for the front vehicles to detecting calculate and as third speed-limiting messages.
Optionally, the radar acquires is divided into multiple regions in front of this vehicle traffic direction,
The computing module is indicated with individual weight respectively in both direction in length and breadth, wherein lateral weight is with this front side vehicle
It is main references object, weighted value is larger, and the vehicle in both sides track is auxiliary references object, if there are the feelings in a plurality of track
Under condition, weighted value is gradually reduced to both sides, longitudinal weight with along lane line direction, the weighted value close to the vehicle of this vehicle be compared with
Greatly, weighted value reduces with increasing with a distance from this vehicle.
Optionally, the computing module calculates the movement velocity v of the front vehicles of this vehicle traffic direction according to following formula
As third speed-limiting messages,
,
Wherein,:For a certain speed with reference to vehicle,
：The weight of upward reference vehicle is indulged for a certain region,
：It is laterally upper some region of with reference to weight.
The computer-readable medium of the present invention, is stored thereon with computer program, which is characterized in that the computer program quilt
Realize that the speed limit identifies fusion method when processor executes.
The computer equipment of the present invention, including memory, processor and storage are on a memory and can be on a processor
The computer program of operation, which is characterized in that the processor realizes speed limit mark when executing the computer program
The step of fusion method.
The present invention proposes vehicle based on the road speed limit identification information that navigation map data and camera capture, then
It is added around detections of radar and runs the movable information of vehicle, to confirm the rational road speed limit of present road.Therefore, it is possible to eliminate
Cartographic information with camera speed limit mark identification information in the presence of centainly non-timely with inaccuracy, believe by the speed limit prevented
Breath is mismatched with environment speed, by tracking and identifying for other vehicle speeds to currently participating in traffic, and by itself and map number
According to the speed limit data fusion merged with camera, the safer real-time speed limit of current environment can be determined.
Description of the drawings
Fig. 1 is the flow chart for the speed limit mark fusion method for indicating one embodiment of the present invention.
Fig. 2 is the schematic diagram for the priority for indicating fusion.
The schematic diagram of the speed of collection vehicle front vehicles is indicated in Fig. 3.
Fig. 4 is the organigram for the speed limit mark emerging system for indicating one embodiment of the present invention.
Specific implementation mode
Be described below be the present invention multiple embodiments in some, it is desirable to provide to the present invention basic understanding.And
It is not intended to the crucial or conclusive element for confirming the present invention or limits scope of the claimed.
In the present invention, vehicle is added based on the road speed limit identification information that map datum and camera capture
The movable information that vehicle is run around millimetre-wave radar detection, to confirm the rational road speed limit of present road.Though camera
The movable information of front truck can be provided, but the limited amount of its detection and movable information precision are also not as good as millimetre-wave radar.Map
Information and camera speed limit mark identification information exist it is certain non-timely with inaccuracy so that the speed limit that the two provides with
Environment speed mismatches（That is, the speed limit that camera or map provide is also likely to be wrong, mismatched with current flow speeds）.It is logical
Cross the speed limit number for tracking and identifying, and itself and map datum being merged with camera of other vehicle speeds to currently participating in traffic
According to fusion, it will be able to determine safer, more accurate real-time speed limit under current environment.
Then, the speed limit of one embodiment of the present invention mark fusion method is illustrated.
Fig. 1 is the flow chart for the speed limit mark fusion method for indicating one embodiment of the present invention.
As shown in Figure 1, the speed limit mark fusion method of one embodiment of the present invention includes the following steps：
First speed limit obtaining step S100：Road speed-limiting messages are obtained as first from digital map navigation information using navigation device
Speed-limiting messages；
Second speed limit obtaining step S200：Identify road speed-limiting messages as the second speed-limiting messages using camera；
Third speed limit obtaining step S300：Vehicle movement information in environment is perceived using radar and is calculated as acquisition third speed limit
Information, such as the speed based on other vehicles around this vehicle calculate third speed-limiting messages；And
Fusion steps S400：It will be in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages
One or two or more merges and as current speed-limiting messages and exports.
Wherein, about fusion steps S400, the priority of fusion is set in fusion steps S400, the fusion it is excellent
First grade is that override merges first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages three simultaneously
Thrin is arbitrated as current speed-limiting messages, secondary is to melt both first speed-limiting messages and second speed-limiting messages
For Consolidation of Arbitration one of both as current speed-limiting messages, most secondary is to believe first speed-limiting messages or second speed limit
Breath is used as current speed-limiting messages.
Here, merge stress be data matching and verification, such as pass through flow speeds and camera or map datum ratio
It is right, it is assumed that with the data reliability highest of camera, but to acquire speed limit and be also required to compare with flow speeds（It course refers to exist
Under the premise of flow speeds）.Also, fusion herein is exactly to select a speed in three or two speed in fact
It is used as speed limit（And it is not to three or two speed to carry out that a speed limit is calculated）.For example, passing through in camera
In the case that road markings gets speed limit, it will be considered that the mark speed limit that camera obtains is the most accurately.It is contemplated that
Camera also have acquisition mistake or it is inaccurate when, therefore, also can be with map speed limit（If any）And pass through millimeter
Whether the flow speeds of radar wave measurement are accurate to prove the mark speed limit that camera obtains.Citing is said, if camera
The speed limit of acquisition is 30 kilometers/hour, but the flow speeds of radar wave measurement are 70 kilometers/hour, and at this moment we are almost
It may determine that the speed limit that camera obtains may be problematic, at the same time, it is found that the speed limit of map datum is 80 kilometers/hour,
In this case, immediately it is determined that going out fidelity speed subject to 80 kilometers/hour of map speed limit.Fig. 2 is the priority for indicating fusion
Schematic diagram.
As shown in Fig. 2, in step slo, judging whether navigation device, camera and radar are all available, if all available
S11 is then entered step, S13 is otherwise entered step.
In step s 11, the speed of the vehicle around this vehicle is perceived using radar and is calculated as third speed-limiting messages.
In step s 12, the velocity information that radar, camera and navigation device obtain is merged.
In step s 13, judge whether that camera and navigation device are available, S14 entered step if all available, otherwise into
Enter step S15.
In step S14, the speed-limiting messages that camera and navigation device obtain are merged.
In step S15, judges whether that only camera is available, enter step S16 if only camera is available, otherwise enter
Step S17.
In step s 16, the speed-limiting messages obtained only with camera.
In step S17, judges whether that only navigation device is available, enter step S18 if only navigation device is available, otherwise
Terminate flow.
Then, third speed limit obtaining step S300 is specifically described.It is sharp in third speed limit obtaining step S300
It uses radar to perceive vehicle movement information in environment and calculates as acquisition third speed-limiting messages.
Specifically, in third speed limit obtaining step S300, the vehicle for being divided into multiple regions in front of this vehicle traffic direction is acquired
Speed.
Fig. 3 indicates the schematic diagram of the speed of multiple regions in front of collection vehicle.
This vehicle is indicated in figure 3（Bottom vehicle in figure）3 regions in front three vehicles, respectively be located at and this vehicle
Identical track, that is, track 2. on front a vehicle, positioned at this vehicle left front, that is, track 1. on a vehicle, with
And positioned at this vehicle right front, that is, track 3. on a vehicle.
Wherein, both direction is indicated with individual weight respectively in length and breadth, and lateral weight is main ginseng with this front side vehicle
Object is examined, weighted value is larger, and the vehicle in both sides track is auxiliary references object, if in the case of there are a plurality of track, weight
Be worth to both sides and be gradually reduced, longitudinal weight with along lane line direction, the weighted value close to the vehicle of this vehicle be it is larger, weighted value with
Increase with a distance from this vehicle and reduces.
Specifically, the movement velocity v of the front vehicles of this vehicle traffic direction is calculated according to following formula as third speed limit
Information,
,
Wherein,:For a certain speed with reference to vehicle,
：The weight of upward reference vehicle is indulged for a certain region,
：It is laterally upper some region of with reference to weight.
The speed limit of one embodiment of the present invention mark fusion method is illustrated above.Sequentially for the present invention
An embodiment speed limit mark emerging system illustrate.
Fig. 4 is the organigram for the speed limit mark emerging system for indicating one embodiment of the present invention.
As shown in figure 4, the speed limit mark emerging system of one embodiment of the present invention has：
Navigation device 100, for obtaining road speed-limiting messages from digital map navigation information as the first limit speed-limiting messages；
Camera 200, road speed-limiting messages are as the second speed-limiting messages for identification；
Radar installations 300, for perceiving vehicle movement information in environment and calculating as acquisition third speed-limiting messages；And
Fusing device 400, by one in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages
Or two or more merge and as current speed-limiting messages and export.
Wherein, radar installations 300 includes：
Radar 310, the movement velocity of the front vehicles for detecting this vehicle traffic direction；And
Computing module 320, the movement velocity for the front vehicles to detecting calculate and as third speed-limiting messages.
For the accuracy of detection in the present invention, such as millimetre-wave radar may be used.
Radar 310 for example acquires is divided into multiple regions in front of this vehicle traffic direction.Computing module 320 is in two sides in length and breadth
To being indicated respectively with individual weight, wherein lateral weight with this front side vehicle for main references object, weighted value be compared with
Greatly, the vehicle in both sides track is auxiliary references object, if in the case of there are a plurality of track, weighted value is gradually reduced to both sides,
Longitudinal weight is with along lane line direction, the weighted value close to the vehicle of this vehicle is larger, and weighted value increases with a distance from this vehicle
And reduce.The movement velocity v that computing module 320 calculates the front vehicles of this vehicle traffic direction according to following formula is limited as third
Fast information,
,
Wherein,:For a certain speed with reference to vehicle,
：The weight of upward reference vehicle is indulged for a certain region,
：It is laterally upper some region of with reference to weight.
Furthermore the priority of fusion is set, and the priority of the fusion is override by described first in fusing device 400
Speed-limiting messages, second speed-limiting messages and the third speed-limiting messages three melt Consolidation of Arbitration thrin as current limit
Fast information, secondary are that both first speed-limiting messages and second speed-limiting messages are melted Consolidation of Arbitration one of both as working as
Preceding speed-limiting messages, most secondary is using first speed-limiting messages or second speed-limiting messages as current speed-limiting messages.
In addition, the output of fusing device 400 for example can be the ACC for being output to vehicle（Adaptive navigation system）Etc. setting
It is standby, therefore, the current speed-limiting messages of acquisition can be supplied to vehicle adaptive navigation system, help to be based on more accurately working as
Preceding speed-limiting messages carry out adaptive navigation.
The present invention proposes vehicle based on the road speed limit identification information that navigation map data and camera capture, then
It is added around detections of radar and runs the movable information of vehicle, to confirm the rational road speed limit of present road.Therefore, it is possible to eliminate
Cartographic information with camera speed limit mark identification information in the presence of centainly non-timely with inaccuracy, believe by the speed limit prevented
Breath is mismatched with environment speed, by tracking and identifying for other vehicle speeds to currently participating in traffic, and by itself and map number
According to the speed limit data fusion merged with camera, the safer real-time speed limit of current environment can be determined.
The present invention also provides a kind of computer-readable mediums, are stored thereon with computer program, which is characterized in that the calculating
Machine program realizes above-mentioned speed limit mark fusion method when being executed by processor.
Furthermore the present invention also provides a kind of computer equipment, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, which is characterized in that the processor is realized when executing the computer program
The step of speed limit mark fusion method stated.
Example above primarily illustrates the speed limit mark emerging system and speed limit mark fusion method of the present invention.Although only
The specific implementation mode of some of present invention is described, but those of ordinary skill in the art are it is to be appreciated that this hair
It is bright can without departing from its spirit with range in the form of many other implement.Therefore, the example and embodiment shown
It is considered as illustrative and not restrictive, not departing from the spirit and scope of the present invention as defined in appended claims
In the case of, the present invention may cover various modification and replacement.
Claims (12)
1. a kind of speed limit identifies fusion method, which is characterized in that include the following steps：
First speed limit obtaining step obtains road speed-limiting messages as the first speed-limiting messages using navigation device；
Second speed limit obtaining step identifies road speed-limiting messages as the second speed-limiting messages using camera；
Third speed limit obtaining step, using vehicle movement information in radar perception environment as acquisition third speed-limiting messages；And
Fusion steps, by one in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages,
Or two or more merge and as current speed-limiting messages and export.
2. speed limit as described in claim 1 identifies fusion method, which is characterized in that
The priority of fusion is set in the fusion steps,
The priority of the fusion is that override limits first speed-limiting messages, second speed-limiting messages and the third
Fast information three melts Consolidation of Arbitration thrin as current speed-limiting messages, and secondary is by first speed-limiting messages and described
Both two speed-limiting messages melt Consolidation of Arbitration one of both as current speed-limiting messages, most it is secondary be by first speed-limiting messages or
The second speed-limiting messages are as current speed-limiting messages described in person.
3. speed limit as claimed in claim 1 or 2 identifies fusion method, which is characterized in that
In the third speed limit obtaining step, the movable information of the front vehicles of this vehicle traffic direction is detected as third speed limit
Information.
4. speed limit as claimed in claim 3 identifies fusion method, which is characterized in that
In the third speed limit obtaining step, acquires and be divided into multiple regions in front of this vehicle traffic direction, in length and breadth both direction
It is indicated respectively with individual weight,
Wherein, lateral weight is with this front side vehicle for main references object, and weighted value is larger, supplemented by the vehicle in both sides track
References object is helped, if in the case of there are a plurality of track, weighted value is gradually reduced to both sides,
Longitudinal weight is with along lane line direction, the weighted value close to the vehicle of this vehicle is larger, and weighted value is with a distance from this vehicle
Increase and reduces.
5. speed limit as described in claim 3 or 4 identifies fusion method, which is characterized in that
The movement velocity v of the front vehicles of this vehicle traffic direction is calculated according to following formula as third speed-limiting messages,
,
Wherein,:For a certain speed with reference to vehicle,
：The weight of upward reference vehicle is indulged for a certain region,
：It is laterally upper some region of with reference to weight.
6. a kind of speed limit identifies emerging system, which is characterized in that have：
Navigation device, for obtaining road speed-limiting messages from digital map navigation information as the first limit speed-limiting messages；
Camera, road speed-limiting messages are as the second speed-limiting messages for identification；
Radar installations obtains third speed-limiting messages for perceiving vehicle movement information in environment and calculating；And
Fusing device, by one in first speed-limiting messages, second speed-limiting messages and the third speed-limiting messages,
Or two or more merge and as current speed-limiting messages and export.
7. speed limit as described in claim 1 identifies emerging system, which is characterized in that
The priority of fusion is set in the fusing device,
The priority of the fusion is that override limits first speed-limiting messages, second speed-limiting messages and the third
It is current speed-limiting messages that fast information three, which melts Consolidation of Arbitration thrin, and secondary is by first speed-limiting messages and described second
It is current speed-limiting messages that both speed-limiting messages, which melt Consolidation of Arbitration one of both, and most secondary is by first speed-limiting messages or institute
The second speed-limiting messages are stated as current speed-limiting messages.
8. speed limit as claimed in claims 6 or 7 identifies emerging system, which is characterized in that
The radar installations includes：
Radar, the movement velocity of the front vehicles for detecting this vehicle traffic direction；And
Computing module, the movement velocity for the front vehicles to detecting are calculated and obtain third speed-limiting messages.
9. speed limit as claimed in claim 8 identifies emerging system, which is characterized in that
The radar acquires is divided into multiple regions in front of this vehicle traffic direction,
The computing module is indicated with individual weight respectively in both direction in length and breadth, wherein lateral weight is with this front side vehicle
It is main references object, weighted value is larger, and the vehicle in both sides track is auxiliary references object, if there are the feelings in a plurality of track
Under condition, weighted value is gradually reduced to both sides, longitudinal weight with along lane line direction, the weighted value close to the vehicle of this vehicle be compared with
Greatly, weighted value reduces with increasing with a distance from this vehicle.
10. speed limit as claimed in claim 8 or 9 identifies emerging system, which is characterized in that
The computing module calculates the movement velocity v of the front vehicles of this vehicle traffic direction according to following formula to be limited as third
Fast information,
,
Wherein,:For a certain speed with reference to vehicle,
：The weight of upward reference vehicle is indulged for a certain region,
：It is laterally upper some region of with reference to weight.
11. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that the computer program is handled
Realize that the speed limit described in any one of claim 1 ~ 5 identifies fusion method when device executes.
12. a kind of computer equipment, including memory, processor and storage can be run on a memory and on a processor
Computer program, which is characterized in that the processor realizes any one of claim 1 ~ 5 when executing the computer program
The speed limit identifies the step of fusion method.
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| CN201711346566.XA CN108573611B (en) | 2017-12-15 | 2017-12-15 | Speed limit sign fusion method and speed limit sign fusion system |
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| CN201711346566.XA CN108573611B (en) | 2017-12-15 | 2017-12-15 | Speed limit sign fusion method and speed limit sign fusion system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532845A (en) * | 2018-12-21 | 2019-03-29 | 奇瑞汽车股份有限公司 | Control method, device and the storage medium of intelligent automobile |
| CN109598948A (en) * | 2019-01-16 | 2019-04-09 | 谢宝建 | A kind of new vehicle automatic segmentation speed limit solution |
| CN109733399A (en) * | 2019-02-20 | 2019-05-10 | 广州小鹏汽车科技有限公司 | A kind of automatic speed-limiting adjusting method and system |
| CN109849665A (en) * | 2019-03-18 | 2019-06-07 | 奇瑞汽车股份有限公司 | A kind of automobile speed limit control method and system |
| CN110962596A (en) * | 2019-12-20 | 2020-04-07 | 奇瑞汽车股份有限公司 | Vehicle speed control method and device of automobile and storage medium |
| CN111907522A (en) * | 2019-05-07 | 2020-11-10 | 现代摩比斯株式会社 | Vehicle SCC system based on complex information and control method thereof |
| CN112466139A (en) * | 2020-11-25 | 2021-03-09 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on multiple sensors, vehicle and storage medium |
| CN114084130A (en) * | 2022-01-20 | 2022-02-25 | 深圳宇通智联科技有限公司 | Intelligent vehicle speed control and regulation method |
| CN114771568A (en) * | 2022-04-22 | 2022-07-22 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on camera and map information and vehicle |
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| CN111907522A (en) * | 2019-05-07 | 2020-11-10 | 现代摩比斯株式会社 | Vehicle SCC system based on complex information and control method thereof |
| CN110962596A (en) * | 2019-12-20 | 2020-04-07 | 奇瑞汽车股份有限公司 | Vehicle speed control method and device of automobile and storage medium |
| CN110962596B (en) * | 2019-12-20 | 2022-04-08 | 奇瑞汽车股份有限公司 | Vehicle speed control method and device of automobile and storage medium |
| CN112466139A (en) * | 2020-11-25 | 2021-03-09 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on multiple sensors, vehicle and storage medium |
| CN114084130A (en) * | 2022-01-20 | 2022-02-25 | 深圳宇通智联科技有限公司 | Intelligent vehicle speed control and regulation method |
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| CN114771568A (en) * | 2022-04-22 | 2022-07-22 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on camera and map information and vehicle |
| CN114771568B (en) * | 2022-04-22 | 2024-06-11 | 重庆长安汽车股份有限公司 | Speed limiting fusion method and system based on camera and map information and vehicle |
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