CN109532846B - Vehicle-mounted system, method and equipment for controlling driving speed by voice and storage medium - Google Patents

Vehicle-mounted system, method and equipment for controlling driving speed by voice and storage medium Download PDF

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Publication number
CN109532846B
CN109532846B CN201910023203.5A CN201910023203A CN109532846B CN 109532846 B CN109532846 B CN 109532846B CN 201910023203 A CN201910023203 A CN 201910023203A CN 109532846 B CN109532846 B CN 109532846B
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vehicle
lane
vehicle speed
speed
control instruction
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CN109532846A (en
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李小波
丁华杰
江文飞
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Aiways Automobile Shanghai Co Ltd
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Aiways Automobile Shanghai Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/26—Speech to text systems

Abstract

The invention provides a vehicle-mounted system, a method, equipment and a storage medium for controlling the running speed by voice, wherein the vehicle-mounted system for controlling the running speed by voice comprises the following steps: the voice acquisition module is used for acquiring voice data in the vehicle; the voice recognition module is used for recognizing whether the collected voice data contain a vehicle speed control instruction; the evaluation module is used for evaluating whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, and the real-time safe vehicle speed range is calculated at least according to the upper vehicle speed limit and the lower vehicle speed limit of the current lane of the vehicle; the control module is used for controlling the vehicle to run at the speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range; and the prompting module is used for prompting that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is not within the real-time safe vehicle speed range. The system and the method provided by the invention realize voice control of the driving speed.

Description

Vehicle-mounted system, method and equipment for controlling driving speed by voice and storage medium
Technical Field
The invention relates to the field of vehicle networking information sharing, in particular to a vehicle-mounted system, a method, equipment and a storage medium for controlling driving speed by voice.
Background
The control of the speed of the automatic driving vehicle is basically controlled by a decision control system according to barrier information or road speed limit information, and the speed generated by the control of the decision control system does not necessarily meet the psychological expectation of drivers and passengers; at present, no related technology application for adjusting the vehicle speed through interaction with a driver appears.
Disclosure of Invention
In view of the problems in the prior art, an object of the present invention is to provide a vehicle-mounted system, method, device and storage medium for controlling a driving speed by voice, so as to control the driving speed by voice.
The embodiment of the invention provides a vehicle-mounted system for controlling running speed by voice, which is arranged on a vehicle and comprises:
the voice acquisition module is used for acquiring voice data in the vehicle;
the voice recognition module is used for recognizing whether the collected voice data contains a vehicle speed control instruction;
the evaluation module is used for evaluating whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, and the real-time safe vehicle speed range is calculated at least according to the upper vehicle speed limit and the lower vehicle speed limit of the current lane of the vehicle;
the control module is used for controlling the vehicle to run at the speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range; and
and the prompting module is used for prompting that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is not within a real-time safe vehicle speed range.
Optionally, the method further comprises:
a vehicle speed correction module for:
when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to run at the upper limit of the vehicle speed of the current lane of the vehicle;
and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to run at the lower limit of the vehicle speed of the current lane of the vehicle.
Optionally, the method further comprises:
a lane correction module for:
when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the upper limit higher than the upper limit of the vehicle speed of the current lane of the vehicle;
and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the lower limit lower than the lower limit of the vehicle speed of the current lane of the vehicle.
Optionally, the method further comprises:
and the lane changing vehicle speed correction module is used for calculating a lane changing speed, and enabling the vehicle to run at the vehicle speed indicated by the vehicle speed control instruction after the vehicle changes lanes at the lane changing speed.
Optionally, the lane-change vehicle speed correction module includes:
the lane changing position module is used for setting a preset number of lane changing positions at equal intervals from the initial projection position of the initial position of the vehicle on the lane to be driven;
a vehicle speed calculation module to:
sequentially selecting lane changing positions along the driving direction of the vehicle, and calculating a lane changing vehicle speed range corresponding to the lane changing positions according to the selected lane changing positions and the following equation:
Figure BDA0001941526500000021
Figure BDA0001941526500000022
wherein W is the distance between the center line of the lane to be driven and the center line of the lane currently driven by the vehicle, S1For calibrating the distance, V, between the track-changing position and the starting projection position1Speed of lane change, V2The running speed of the vehicle which is closest to the initial projection position on the lane to be run before the vehicle changes the lane, SminFor the shortest safety distance of adjacent vehicles in the direction of travel of the roadway, l2The length of a vehicle which is closest to the initial projection position on a lane to be driven before the lane change of the vehicle in the extending direction of the lane is obtained, and D is the distance between the vehicle and the vehicle which is closest to the initial projection position on the lane to be driven before the lane change of the vehicle in the direction perpendicular to the extending direction of the lane;
the intersection module is used for acquiring the intersection of the lane changing vehicle speed range and the range from the vehicle speed before the lane changing of the vehicle to the vehicle speed indicated by the vehicle speed control instruction, and if the intersection is an empty set, selecting the next lane changing position along the driving direction of the vehicle to calculate the lane changing vehicle speed range corresponding to the next lane changing position; and if the intersection is not an empty set, selecting a lane changing speed as the lane changing speed in the intersection.
Optionally, the lane change vehicle speed correction module is further configured to gradually change the vehicle from the lane change speed to the vehicle speed indicated by the vehicle speed control instruction after the vehicle changes the lane at the lane change speed.
Optionally, the real-time safe vehicle speed range is smaller than the vehicle historical travel speed upper limit.
According to still another aspect of the present invention, there is also provided a method for controlling a driving speed by voice, which employs the vehicle-mounted system for controlling a driving speed by voice as described above, and includes:
s110: collecting voice data in the vehicle;
s120: identifying whether the collected voice data contains a vehicle speed control instruction;
s130: evaluating whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, wherein the real-time safe vehicle speed range is calculated at least according to the upper vehicle speed limit and the lower vehicle speed limit of the current lane of the vehicle;
s140: when the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, controlling the vehicle to run at the vehicle speed indicated by the vehicle speed control instruction; and
s150: and when the vehicle speed indicated by the vehicle speed control instruction is not within the real-time safe vehicle speed range, prompting that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction.
Optionally, after the step S150, the method further includes:
s161: when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, controlling the vehicle to run at the upper limit of the vehicle speed of the current lane of the vehicle;
s162: and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, controlling the vehicle to run at the lower limit of the vehicle speed of the current lane of the vehicle.
Optionally, after the step S150, the method further includes:
s171: when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, controlling the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the upper limit higher than the upper limit of the vehicle speed of the current lane of the vehicle;
s172: and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, controlling the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the lower limit lower than the lower limit of the vehicle speed of the current lane of the vehicle.
Optionally, the S171 and the S172 further include:
s173: setting a preset number of lane changing positions at equal intervals from the initial projection position of the initial position of the vehicle on a lane to be driven;
s174: sequentially selecting lane changing positions along the driving direction of the vehicle, and calculating a lane changing vehicle speed range corresponding to the lane changing positions according to the selected lane changing positions and the following equation:
Figure BDA0001941526500000041
Figure BDA0001941526500000042
wherein W is the distance between the center line of the lane to be driven and the center line of the lane currently driven by the vehicle, S1For calibrating the distance, V, between the track-changing position and the starting projection position1Speed of lane change, V2The running speed of the vehicle which is closest to the initial projection position on the lane to be run before the vehicle changes the lane, SminFor the shortest distance between adjacent vehicles in the extending direction of the laneFull distance,/2The length of a vehicle which is closest to the initial projection position on a lane to be driven before the lane change of the vehicle in the extending direction of the lane is obtained, and D is the distance between the vehicle and the vehicle which is closest to the initial projection position on the lane to be driven before the lane change of the vehicle in the direction perpendicular to the extending direction of the lane;
s175: acquiring the intersection of the lane changing vehicle speed range and the range from the vehicle speed before the lane changing to the vehicle speed indicated by the vehicle speed control instruction;
if the intersection is an empty set, executing S176: selecting a next lane change-ready position along the driving direction of the vehicle, and executing the step S174 to calculate a lane change-ready vehicle speed range corresponding to the next lane change-ready position;
if the intersection is not an empty set, executing S177: and selecting a quasi lane changing speed in the intersection as the lane changing speed.
According to still another aspect of the present invention, there is also provided an in-vehicle apparatus that controls a travel speed by voice, including: a processor; a memory having stored therein executable instructions of the processor; wherein the processor is configured to perform the steps of the method of voice controlling travel speed as described above via execution of the executable instructions.
According to still another aspect of the present invention, there is also provided a computer-readable storage medium storing a program which, when executed, implements the steps of the method of voice controlling a travel speed as described above.
The vehicle-mounted system, the method, the equipment and the storage medium for controlling the driving speed by voice can realize the control of the driving speed by voice.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
FIG. 1 is a block schematic diagram of the voice controlled travel speed in-vehicle system of the present invention.
Fig. 2 to 4 are schematic views of lane change of a vehicle according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method of controlling a driving speed by voice according to an embodiment of the present invention.
FIG. 6 is a schematic structural diagram of the vehicular auxiliary navigation positioning device of the present invention. And
fig. 7 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
FIG. 1 is a block schematic diagram of the voice controlled travel speed in-vehicle system of the present invention. Fig. 2 to 4 are schematic views of lane change of a vehicle according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the invention provides a vehicle-mounted system 1 for controlling a driving speed by voice, which is installed in a vehicle, and the vehicle-mounted system 1 for controlling the driving speed by voice includes a voice collecting module 101, a voice recognition module 102, an evaluation module 103, a control module 104 and a prompting module 105, which is not limited thereto.
And the voice acquisition module 101 is used for acquiring voice data in the vehicle. The voice collecting module 101 is, for example, a microphone disposed in the vehicle-mounted control system, but the invention is not limited thereto.
The voice recognition module 102 is configured to recognize whether the collected voice data includes a vehicle speed control command. Specifically, for example, a vehicle speed control instruction pattern library may be prestored, and when the collected voice data hits any vehicle speed control instruction in the prestored vehicle speed control instruction pattern library, it is determined that the collected voice data contains a vehicle speed control instruction. The pre-stored vehicle speed control command pattern library may pre-store "vehicle speed is XXX km/h", "vehicle speed is accelerated to XXX km/h", "vehicle speed is slowed to XXX km/h", and the like, for example, but the invention is not limited thereto.
The evaluation module 103 is configured to evaluate whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, where the real-time safe vehicle speed range is calculated according to at least a vehicle speed upper limit and a vehicle speed lower limit of a current lane of the vehicle. The invention is not limited to this, and the real-time safe vehicle speed range may also be calculated according to other data, for example, the real-time safe vehicle speed range needs to be smaller than the upper limit of the vehicle historical driving speed.
The control module 104 is configured to control the host vehicle to run at the vehicle speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is within the real-time safe vehicle speed range.
The prompting module 105 is configured to prompt that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction by using any one of running in voice, text, and images when the vehicle speed indicated by the vehicle speed control instruction is not within the real-time safe vehicle speed range. When the invention is applied to the field of automatic driving, human-vehicle interaction is provided, so that a user can control the vehicle speed through voice and the safety of the vehicle speed is also considered. In some embodiments of the invention, the vehicle may still be driven at the navigation plan driving speed when the vehicle speed indicated by the vehicle speed control command is not within the real-time safe vehicle speed range.
In some variations, the travel speed may be adjusted based on a user's voice indication. For example, the in-vehicle system 1 that controls the travel speed by voice may further include a vehicle speed correction module 106. The vehicle speed correction module 106 is used for indicating the control module to control the vehicle to run at the upper limit of the vehicle speed of the current lane of the vehicle when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range; and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to run at the lower limit of the vehicle speed of the current lane of the vehicle. For example, the upper limit of the safe vehicle speed range is 80 km/h of the upper limit of the vehicle speed of the lane where the vehicle is located; the lower limit of the safe vehicle speed range is 60 km/h of the lower limit of the vehicle speed of the lane where the vehicle is located, and when the vehicle speed indicated by the vehicle speed control instruction is 40 km/h, the vehicle speed can be adjusted to drive at the lower limit of the safe vehicle speed range, namely 60 km/h; when the vehicle speed indicated by the vehicle speed control command is 100 km/h, the vehicle speed can be adjusted to run at the upper limit of the safe vehicle speed range, that is, 80 km/h. In some embodiments of the invention, the vehicle speed correction module 106 is enabled only when the commanded vehicle speed is within a certain lane allowed upper/lower limit range of the current road; and if the command vehicle speed is not within the allowable upper limit/lower limit range of all lanes of the current road, directly not starting the vehicle speed correction module 106.
In still other variations, the vehicle may be changed lanes in order to travel at a speed indicated by the user. In such an embodiment, the voice-controlled travel speed in-vehicle system 1 may further include a lane correction module 107. The lane correction module 107 is used for instructing the control module to control the vehicle to change lanes to lanes which are located on the same road as the current lane of the vehicle and have the upper limit higher than the upper limit of the vehicle speed of the current lane of the vehicle when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range; and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the lower limit lower than the lower limit of the vehicle speed of the current lane of the vehicle. For example, the vehicle speed range of the lane in which the vehicle runs is 60 km/h to 80 km/h, when the vehicle speed indicated by the vehicle speed control instruction is 40 km/h, the vehicle can be switched to the adjacent lane in which the vehicle speed range is 40 km/h to 60 km/h for running; when the vehicle speed indicated by the vehicle speed control instruction is 100 km/h, the vehicle can be driven to the adjacent lane with the vehicle speed ranging from 80 km/h to 100 km/h.
In the above embodiment, the automatic driving needs to take the vehicle speed at the time of lane change into consideration, and therefore, the in-vehicle system 1 that controls the travel speed by voice may further include the lane change vehicle speed correction module 108. The lane-changing speed correction module 108 is configured to calculate a lane-changing speed, so that the host vehicle runs at the speed indicated by the vehicle speed control instruction after the host vehicle changes lanes at the lane-changing speed.
Specifically, the lane-change vehicle speed correction module 108 includes a lane-change-ready position module 118, a vehicle speed calculation module 128, and an intersection module 138.
The lane change position module 118 is configured to set a predetermined number of lane change positions on the lane to be traveled at equal intervals from the initial projection position of the initial position of the host vehicle. As shown in fig. 2, the lane change preparation module 108 is configured to set a predetermined number of lane change preparation positions 202 on the lane to be traveled 292 at equal intervals (the interval may be set to be larger than the length of the host vehicle) from the start projection position 201 of the start position of the host vehicle 210 (the head position of the host vehicle 210 before the lane change). The lane change position 202 is a position where the host vehicle 210 to be selected changes lanes into the lane 292 to be traveled.
The vehicle speed calculation module 128 is configured to:
sequentially selecting lane change positions 202 along the driving direction of the vehicle, and calculating a lane change speed range corresponding to the lane change positions according to the selected lane change positions and the following equation:
Figure BDA0001941526500000081
Figure BDA0001941526500000082
wherein W is the distance between the center line of the lane to be driven 292 and the center line of the lane 291 currently driven by the vehicle, S1Is the distance, V, from the selected seek lane position 202 to the start projection position 2011Speed of lane change, V2The running speed, S, of the vehicle 211 (the vehicle 211 aligned with the host vehicle 210 in the vertical lane extending direction is taken as an example in the present embodiment) on the lane 292 to be driven before the host vehicle 210 changes lanes, which is closest to the starting projection position 201minFor the shortest safety distance of adjacent vehicles in the direction of travel of the roadway, l2The length of a vehicle 211 which is closest to the initial projection position 201 on a lane to be driven before the vehicle changes 210 in the extending direction of the lane is shown, and D is the distance between the vehicle 211 which is closest to the initial projection position 201 on a lane 292 to be driven before the vehicle changes 210 in the extending direction of the laneAnd (5) separating.
The two inequalities can calculate the lane change speed range corresponding to each lane change position 202 for each lane change position 202 through the similar triangle and pythagorean theorem.
Inequality
Figure BDA0001941526500000083
Referring to fig. 3, a distance S from a vehicle 211 when the host vehicle 210 travels to the selected lane-change-allowed position 202 is shown3Is less than the shortest safe distance of the adjacent vehicles in the extending direction of the lane
Figure BDA0001941526500000084
The driving distance L of the vehicle 211 is determined when the vehicle 210 drives from the initial position to the selected lane-change-allowed position 2022。
Inequality
Figure BDA0001941526500000085
Reference may be made to fig. 4, which ensures that the host vehicle 210 does not collide with the vehicle 211 when driving to a straight line (parallel to the lane driving direction) where the vehicle 211 approaches the side of the host vehicle 210.
Figure BDA0001941526500000086
The travel distance for the host vehicle 210 to travel to the time when the vehicle 211 travels to the straight line (parallel to the lane travel direction) on which the side of the host vehicle 210 is close to
Figure BDA0001941526500000087
For the travel distance L of the vehicle 211 corresponding to the time zone4。
Therefore, the safety of the vehicle during lane changing due to the change of the vehicle speed is ensured.
The intersection module 138 is configured to obtain an intersection of the lane change-ready vehicle speed range and a range from a vehicle speed before the lane change of the vehicle to a vehicle speed indicated by the vehicle speed control instruction, and if the intersection is an empty set, select a next lane change-ready position along a vehicle traveling direction to calculate a lane change-ready vehicle speed range corresponding to the next lane change-ready position; and if the intersection is not an empty set, selecting a lane changing speed as the lane changing speed in the intersection. Therefore, the calculation load of the vehicle-mounted system can be reduced, and when the optional speed exists, the calculation of the lane-changing vehicle speed range can be stopped. Meanwhile, the safety during lane changing is ensured. In a preferred example, the lane-change speed is between the speed before lane-change and the vehicle speed indicated by the vehicle speed control command. In such an embodiment, the lane-change vehicle speed correction module is further configured to gradually change the host vehicle from the lane-change speed to the vehicle speed indicated by the vehicle speed control instruction after the host vehicle changes lanes at the lane-change speed. The foregoing is merely an illustrative description of one implementation of the present invention and is not intended to be limiting thereof.
Referring now to fig. 5, fig. 5 is a flow chart of a method of voice controlling travel speed in accordance with an embodiment of the present invention. The method for controlling the running speed by voice adopts the vehicle-mounted system for controlling the running speed by voice. The method for controlling the driving speed by voice comprises the following steps:
s110: collecting voice data in the vehicle;
s120: identifying whether the collected voice data contains a vehicle speed control instruction;
s130: evaluating whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, wherein the real-time safe vehicle speed range is calculated at least according to the upper vehicle speed limit and the lower vehicle speed limit of the current lane of the vehicle;
s140: when the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, controlling the vehicle to run at the vehicle speed indicated by the vehicle speed control instruction; and
s150: and when the vehicle speed indicated by the vehicle speed control instruction is not within the real-time safe vehicle speed range, prompting that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction.
In a specific embodiment, after the step S150, the method further includes:
s161: when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, controlling the vehicle to run at the upper limit of the vehicle speed of the current lane of the vehicle;
s162: and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, controlling the vehicle to run at the lower limit of the vehicle speed of the current lane of the vehicle.
In a specific embodiment, after the step S150, the method further includes:
s171: when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, controlling the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the upper limit higher than the upper limit of the vehicle speed of the current lane of the vehicle;
s172: and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, controlling the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the lower limit lower than the lower limit of the vehicle speed of the current lane of the vehicle.
In one embodiment, the step S171 and the step S172 further include:
s173: setting a preset number of lane changing positions at equal intervals from the initial projection position of the initial position of the vehicle on a lane to be driven;
s174: sequentially selecting lane changing positions along the driving direction of the vehicle, and calculating a lane changing vehicle speed range corresponding to the lane changing positions according to the selected lane changing positions and the following equation:
Figure BDA0001941526500000101
Figure BDA0001941526500000102
wherein W is the distance between the center line of the lane to be driven and the center line of the lane currently driven by the vehicle, S1For calibrating the distance, V, between the track-changing position and the starting projection position1Speed of lane change, V2The running speed of the vehicle which is closest to the initial projection position on the lane to be run before the vehicle changes the lane, SminFor the shortest safety distance of adjacent vehicles in the direction of travel of the roadway, l2The length of a vehicle which is closest to the initial projection position on a lane to be driven before the lane change of the vehicle in the extending direction of the lane is obtained, and D is the distance between the vehicle and the vehicle which is closest to the initial projection position on the lane to be driven before the lane change of the vehicle in the direction perpendicular to the extending direction of the lane;
s175: acquiring the intersection of the lane changing vehicle speed range and the range from the vehicle speed before the lane changing to the vehicle speed indicated by the vehicle speed control instruction;
if the intersection is an empty set, executing S176: selecting a next lane change-ready position along the driving direction of the vehicle, and executing the step S174 to calculate a lane change-ready vehicle speed range corresponding to the next lane change-ready position;
if the intersection is not an empty set, executing S177: and selecting a quasi lane changing speed in the intersection as the lane changing speed.
The foregoing is merely an illustrative description of one implementation of the present invention and is not intended to be limiting thereof.
The embodiment of the invention also provides vehicle-mounted equipment for controlling the running speed by voice, which comprises a processor. A memory having stored therein executable instructions of the processor. Wherein the processor is configured to control the steps of the method of driving speed via speech performed by executing the executable instructions.
As described above, the voice-controlled travel speed in-vehicle system of the present invention can realize voice-controlled travel speed.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.
Fig. 6 is a schematic configuration diagram of the voice-controlled travel speed in-vehicle apparatus of the invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 6. The electronic device 600 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 6, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, the processing unit 610 may perform the steps as shown in fig. 5, respectively.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Bus 630 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
Embodiments of the present invention also provide a computer-readable storage medium for storing a program, and the program implements the steps of the method for controlling the driving speed by voice when executed. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
As described above, the program in the computer-readable storage medium of the present invention can realize the auxiliary positioning when being executed. Fig. 7 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 7, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The vehicle-mounted system, the method, the equipment and the storage medium for controlling the driving speed by voice can realize the control of the driving speed by voice.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (9)

1. An on-vehicle system for controlling a running speed by voice, provided in a vehicle, comprising:
the voice acquisition module is used for acquiring voice data in the vehicle;
the voice recognition module is used for recognizing whether the collected voice data contains a vehicle speed control instruction;
the evaluation module is used for evaluating whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, and the real-time safe vehicle speed range is calculated at least according to the upper vehicle speed limit and the lower vehicle speed limit of the current lane of the vehicle;
the control module is used for controlling the vehicle to run at the speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range;
the prompting module is used for prompting that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction when the vehicle speed indicated by the vehicle speed control instruction is not within a real-time safe vehicle speed range;
a lane correction module for:
when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the upper limit higher than the upper limit of the vehicle speed of the current lane of the vehicle;
when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, indicating the control module to control the vehicle to change lanes to lanes which are located on the same road as the current lane of the vehicle and have the lower limit of the lane lower than the lower limit of the vehicle speed of the current lane of the vehicle;
the lane-changing speed correction module is used for calculating a lane-changing speed, and enabling the vehicle to run at the speed indicated by the vehicle speed control instruction after the vehicle changes lanes at the lane-changing speed;
the lane change vehicle speed correction module comprises:
the lane changing position module is used for setting a preset number of lane changing positions at equal intervals from the initial projection position of the initial position of the vehicle on the lane to be driven;
the vehicle speed calculation module is used for sequentially selecting lane changing positions along the driving direction of the vehicle and calculating a lane changing vehicle speed range corresponding to the lane changing positions according to the selected lane changing positions;
the intersection module is used for acquiring the intersection of the lane changing vehicle speed range and the range from the vehicle speed before the lane changing of the vehicle to the vehicle speed indicated by the vehicle speed control instruction, and if the intersection is an empty set, selecting the next lane changing position along the driving direction of the vehicle to calculate the lane changing vehicle speed range corresponding to the next lane changing position; and if the intersection is not an empty set, selecting a lane changing speed as the lane changing speed in the intersection.
2. The voice-controlled travel speed in-vehicle system of claim 1, wherein said system is characterized by
The vehicle speed calculation module is used for:
sequentially selecting lane changing positions along the driving direction of the vehicle, and calculating a lane changing vehicle speed range corresponding to the lane changing positions according to the selected lane changing positions and the following equation:
Figure FDA0002711094130000021
Figure FDA0002711094130000022
wherein W is the distance between the center line of the lane to be driven and the center line of the lane currently driven by the vehicle, S1For calibrating the distance, V, between the track-changing position and the starting projection position1Speed of lane change, V2The running speed of the vehicle which is closest to the initial projection position on the lane to be run before the vehicle changes the lane, SminFor the shortest safety distance of adjacent vehicles in the direction of travel of the roadway, l2The length of a vehicle which is closest to the initial projection position on a lane to be driven before the lane change of the vehicle in the extending direction of the lane, D is the distance between the vehicle and the vehicle which is closest to the initial projection position on the lane to be driven before the lane change of the vehicle in the direction perpendicular to the extending direction of the lane, and S2To calibrate the travel distance between the lane position and the start position.
3. The vehicle-mounted system for controlling driving speed by voice according to claim 1, wherein the lane-change vehicle speed correction module is further configured to gradually change the vehicle from the lane-change speed to the vehicle speed indicated by the vehicle speed control instruction after the vehicle changes the lane at the lane-change speed.
4. The voice-controlled travel speed on-board system according to any one of claims 1 to 3, characterized in that the real-time safe vehicle speed range is smaller than the vehicle historical travel speed upper limit.
5. A method for controlling a driving speed by voice, which is the vehicle-mounted system for controlling the driving speed by voice according to any one of claims 1 to 4, characterized in that the method for controlling the driving speed by voice comprises:
s110: collecting voice data in the vehicle;
s120: identifying whether the collected voice data contains a vehicle speed control instruction;
s130: evaluating whether the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, wherein the real-time safe vehicle speed range is calculated at least according to the upper vehicle speed limit and the lower vehicle speed limit of the current lane of the vehicle;
s140: when the vehicle speed indicated by the vehicle speed control instruction is within a real-time safe vehicle speed range, controlling the vehicle to run at the vehicle speed indicated by the vehicle speed control instruction; and
s150: and when the vehicle speed indicated by the vehicle speed control instruction is not within the real-time safe vehicle speed range, prompting that the vehicle cannot run according to the vehicle speed indicated by the vehicle speed control instruction.
6. The method for controlling a driving speed by voice according to claim 5, wherein after the step S150, the method further comprises:
s171: when the vehicle speed indicated by the vehicle speed control instruction exceeds the upper limit of the real-time safe vehicle speed range, controlling the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the upper limit higher than the upper limit of the vehicle speed of the current lane of the vehicle;
s172: and when the vehicle speed indicated by the vehicle speed control instruction is lower than the lower limit of the real-time safe vehicle speed range, controlling the vehicle to change the lane to the lane which is positioned on the same road as the current lane of the vehicle and has the lower limit lower than the lower limit of the vehicle speed of the current lane of the vehicle.
7. The method for controlling a driving speed according to voice of claim 6, wherein the steps S171 and S172 further comprise:
s173: setting a preset number of lane changing positions at equal intervals from the initial projection position of the initial position of the vehicle on a lane to be driven;
s174: sequentially selecting lane changing positions along the driving direction of the vehicle, and calculating a lane changing vehicle speed range corresponding to the lane changing positions according to the selected lane changing positions and the following equation:
Figure FDA0002711094130000031
Figure FDA0002711094130000032
wherein W is the distance between the center line of the lane to be driven and the center line of the lane currently driven by the vehicle, S1For calibrating the distance, V, between the track-changing position and the starting projection position1Speed of lane change, V2The running speed of the vehicle which is closest to the initial projection position on the lane to be run before the vehicle changes the lane, SminFor the shortest safety distance of adjacent vehicles in the direction of travel of the roadway, l2The length of a vehicle which is closest to the initial projection position on a lane to be driven before the lane change of the vehicle in the extending direction of the lane, D is the distance between the vehicle and the vehicle which is closest to the initial projection position on the lane to be driven before the lane change of the vehicle in the direction perpendicular to the extending direction of the lane, and S2The driving distance between the lane changing position and the initial position is determined;
s175: acquiring the intersection of the lane changing vehicle speed range and the range from the vehicle speed before the lane changing to the vehicle speed indicated by the vehicle speed control instruction;
if the intersection is an empty set, executing S176: selecting a next lane change-ready position along the driving direction of the vehicle, and executing the step S174 to calculate a lane change-ready vehicle speed range corresponding to the next lane change-ready position;
if the intersection is not an empty set, executing S177: and selecting a quasi lane changing speed in the intersection as the lane changing speed.
8. An in-vehicle apparatus that controls a running speed by voice, characterized by comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the method of voice controlling travel speed of any of claims 5 to 7 via execution of the executable instructions.
9. A computer-readable storage medium storing a program, wherein the program when executed implements the steps of the method of voice controlling travel speed of any of claims 5 to 7.
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