CN109733399A - A kind of automatic speed-limiting adjusting method and system - Google Patents
A kind of automatic speed-limiting adjusting method and system Download PDFInfo
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- CN109733399A CN109733399A CN201910126839.2A CN201910126839A CN109733399A CN 109733399 A CN109733399 A CN 109733399A CN 201910126839 A CN201910126839 A CN 201910126839A CN 109733399 A CN109733399 A CN 109733399A
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Abstract
A kind of automatic speed-limiting adjusting method and system, this method comprises: obtaining the first work information of the present road that Traffic Sign Recognition System identifies, and obtain the second work information of present road provided by positioning system, by combining the first work information and the second work information, analysis obtains the speed-limiting messages of present road, to be adjusted according to default cruising speed of the speed-limiting messages to vehicle, obtains vehicle and travelled in the current cruising speed of the present road with controlling vehicle on present road.As it can be seen that implementing the embodiment of the present invention, it can realize that the automatic speed-limiting of vehicle is adjusted under complex road condition.
Description
Technical field
The present invention relates to intelligent driving technical fields, and in particular to a kind of automatic speed-limiting adjusting method and system.
Background technique
As the self-adaption cruise system that achievable vehicle automatic speed-limiting is adjusted is used widely on vehicle, driver
More light it can cosily drive vehicle.However, existing self-adaption cruise system, which generally passes through navigation system, obtains road conditions
Information, when updating not in time on road there are temporary traffic facility or navigation system, self-adaption cruise system can not be obtained
Timely and effectively traffic information, self-adaption cruise system manually adjusts cruising speed dependent on driver at this time.As it can be seen that existing
The automatic speed-limiting adjusting method that self-adaption cruise system uses applicability when facing complex road condition is bad.
Summary of the invention
The embodiment of the invention discloses a kind of automatic speed-limiting adjusting method and systems, can be carried out according to road conditions to vehicle automatic
Speed limit is adjusted, with strong applicability when facing complex road condition.
First aspect of the embodiment of the present invention discloses a kind of automatic speed-limiting adjusting method, comprising:
Obtain the first work information of the present road that Traffic Sign Recognition System identifies；
Obtain the second work information of the present road provided by positioning system；
In conjunction with first work information and second work information, analysis obtains the speed limit letter of the present road
Breath；
It is adjusted according to default cruising speed of the speed-limiting messages to vehicle, obtains the vehicle in the road
Current cruising speed is travelled with controlling the vehicle on the present road.
As an alternative embodiment, in the first aspect of the embodiment of the present invention, the first work information packet
Include the first Maximum speed limit information and the first minimum speed-limiting messages of the present road；And second work information includes
The second Maximum speed limit information, the second minimum speed-limiting messages and the road curvature radius of the present road.
As an alternative embodiment, in the first aspect of the embodiment of the present invention, the first work described in the combination
Condition information and second work information, analysis obtain the speed-limiting messages of the present road, comprising:
Compare the first Maximum speed limit information that first work information includes includes with second work information
The second Maximum speed limit information, the minimum Maximum speed limit information of speed limit is set as current Maximum speed limit information, and, comparison
The described first minimum speed-limiting messages that first work information includes and second work information include described second most
The highest minimum speed-limiting messages of speed limit are set as current minimum speed-limiting messages by low speed-limiting messages；
The speed limit that the current Maximum speed limit information and the current minimum speed-limiting messages are set as the present road is believed
Breath.
As an alternative embodiment, in the first aspect of the embodiment of the present invention, it is described to be believed according to the speed limit
The default cruising speed of vehicle is adjusted in breath, obtains the vehicle in the current cruising speed of the road to control
Vehicle is stated to travel on the present road, comprising:
The current Maximum speed limit information and the current minimum speed-limiting messages for including according to the speed-limiting messages are adjusted
The default cruising speed of the vehicle, the current cruising speed for adjusting the vehicle in the present road are worked as in described
Speed interval defined by preceding minimum speed-limiting messages and the current Maximum speed limit information；
Judge whether the actual travel speed of the vehicle matches with the current cruising speed；
If it is not, controlling the vehicle in the present road with the current cruising speeds.
As an alternative embodiment, controlling the vehicle in institute in the first aspect of the embodiment of the present invention
After present road is stated with the current cruising speeds, the method also includes:
When detecting that the instruction of first work information that the Traffic Sign Recognition System identifies is described current
Road ahead is adjusted in the numerical value of the current cruising speed of the present road that there are abrupt slopes there are when abrupt slope, by the vehicle
The corresponding cruising speed of road numerical value；
When detecting that the instruction of first work information that the Traffic Sign Recognition System identifies is described current
When road ahead has easily sliding traffic sign, the numerical value by the vehicle in the current cruising speed of the present road is adjusted to
The numerical value of the corresponding cruising speed in easy slideway road；
When detecting that the instruction of first work information that the Traffic Sign Recognition System identifies is described current
When there is the traffic sign that no through traffic in road ahead, by the vehicle the current cruising speed of the present road numerical value
The half of the numerical value for the current cruising speed is turned down, and exports the first prompt information to prompt driver's road ahead to forbid
It drives into.
As an alternative embodiment, in the first aspect of the embodiment of the present invention, described according to the speed limit
The default cruising speed of vehicle is adjusted in information, obtains the vehicle in the current cruising speed of the road to control
It states after vehicle travels on the present road, the method also includes:
When the Traffic Sign Recognition System can not identify to obtain the first work information of present road, according to described fixed
Road curvature radius in front of the present road provided by the system of position, is searched and the road in the radius of curvature table of comparisons
The speed to match with the road curvature radius is set as the vehicle and worked as described by the speed that radius of curvature matches
The current cruising speed of preceding road, and there are bends to prompt driver's road ahead for the first prompt information of output.
As an alternative embodiment, in the first aspect of the embodiment of the present invention, the method also includes:
When detecting the steering instructions that driver is inputted, institute is controlled according to the steering instructions that the driver is inputted
Vehicle is stated to travel on the present road.
Second aspect of the embodiment of the present invention discloses a kind of automatic speed-limiting regulating system, comprising:
First acquisition unit, the first operating condition for obtaining the present road that Traffic Sign Recognition System identifies are believed
Breath；
Second acquisition unit, for obtaining the second work information of the present road provided by positioning system；
Speed limit analytical unit, in conjunction with first work information and second work information, analysis to obtain described
The speed-limiting messages of present road；
First adjusting unit obtains institute for being adjusted according to default cruising speed of the speed-limiting messages to vehicle
Vehicle is stated to travel in the current cruising speed of the road to control the vehicle on the present road.
As an alternative embodiment, in the second aspect of the embodiment of the present invention, the first work information packet
Include the first Maximum speed limit information and the first minimum speed-limiting messages of the present road；And second work information includes
The second Maximum speed limit information, the second minimum speed-limiting messages and the road curvature radius of the present road.
As an alternative embodiment, in the second aspect of the embodiment of the present invention, the speed limit analytical unit packet
It includes:
Contrast subunit, for comparing the first Maximum speed limit information that first work information includes and described the
The minimum Maximum speed limit information of speed limit is set as current Maximum speed limit by the second Maximum speed limit information that two work informations include
Information, and, compare the described first minimum speed-limiting messages and the second work information packet that first work information includes
The highest minimum speed-limiting messages of speed limit are set as current minimum speed-limiting messages by the described second minimum speed-limiting messages included；
Subelement is set, is worked as the current Maximum speed limit information to be set as described with the current minimum speed-limiting messages
The speed-limiting messages of preceding road.
As an alternative embodiment, described first adjusts unit packet in the second aspect of the embodiment of the present invention
It includes:
Regulator unit, the current Maximum speed limit information for including according to the speed-limiting messages and it is described it is current most
Low speed-limiting messages adjust the default cruising speed of the vehicle, adjust the vehicle in the current cruise of the present road
Speed is in speed interval defined by the current minimum speed-limiting messages and the current Maximum speed limit information；
Judgment sub-unit, for judging whether the actual travel speed of the vehicle matches with the current cruising speed；
Subelement is controlled, for determining that the actual travel speed of the vehicle is currently patrolled with described in the judgment sub-unit
When speed of a ship or plane degree mismatches, the vehicle is controlled in the present road with the current cruising speeds.
As an alternative embodiment, in the second aspect of the embodiment of the present invention, the system also includes:
Second adjusts unit, is worked as controlling the vehicle in the first adjusting unit in the present road with described
After preceding cruising speeds, when the first acquisition unit detects the institute that the Traffic Sign Recognition System identifies
The first work information is stated to indicate to patrol the vehicle in the current of the present road there are when abrupt slope in front of the present road
The numerical value of speed of a ship or plane degree is adjusted to that there are the numerical value of the corresponding cruising speed of the road on abrupt slope；
Or for described in detecting that the Traffic Sign Recognition System identifies when the first acquisition unit
When first work information indicates to have easily sliding traffic sign in front of the present road, by the vehicle in the present road
The numerical value of current cruising speed is adjusted to the numerical value of the corresponding cruising speed in easy slideway road；
Or for described in detecting that the Traffic Sign Recognition System identifies when the first acquisition unit
When first work information is indicated in front of the present road in the presence of the traffic sign that no through traffic, by the vehicle described current
The numerical value of the current cruising speed of road turns down the half of the numerical value for the current cruising speed, and exports the first prompt information
To prompt driver's road ahead, No entry.
As an alternative embodiment, in the second aspect of the embodiment of the present invention, the system also includes:
Bend adjusts unit, for adjusting default cruise speed of the unit according to the speed-limiting messages to vehicle described first
Degree is adjusted, and obtains the vehicle in the current cruising speed of the road to control the vehicle on the present road
After traveling, when the Traffic Sign Recognition System can not identify to obtain the first work information of present road, according to described
Road curvature radius in front of the present road provided by positioning system is searched and the road in the radius of curvature table of comparisons
The speed to match with the road curvature radius is set as the vehicle described by the speed that road radius of curvature matches
The current cruising speed of present road, and there are bends to prompt driver's road ahead for the first prompt information of output.
As an alternative embodiment, in the second aspect of the embodiment of the present invention, the system also includes:
Instruction control unit, it is defeated according to the driver institute for when detecting the steering instructions that driver is inputted
The steering instructions entered control the vehicle and travel on the present road.
The third aspect of the embodiment of the present invention discloses a kind of automatic speed-limiting regulating system, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the
A kind of automatic speed-limiting adjusting method disclosed in one side.
Fourth aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein
The computer program makes computer execute a kind of automatic speed-limiting adjusting method disclosed in first aspect of the embodiment of the present invention.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 6th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, when the vehicle is driving up the road, present road is obtained by Traffic Sign Recognition System
The first work information, and by positioning system obtain present road the second work information, and combine the first work information
It analyzes to obtain the speed-limiting messages of present road with the second work information, to adjust the default cruise speed of vehicle according to speed-limiting messages
Degree, obtains current cruising speed of the vehicle on current lane, and the reality of vehicle is adjusted further according to obtained current cruising speed
Travel speed.
As it can be seen that implement the embodiment of the present invention, traffic information indicated by the traffic sign by comprehensive present road and
Traffic information provided by positioning system realizes and carries out automatic speed-limiting adjusting to vehicle in different road conditions, and is effectively applicable to
Complex road condition.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of automatic speed-limiting adjusting method disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of another automatic speed-limiting adjusting method disclosed by the embodiments of the present invention；
Fig. 3 is a kind of structural schematic diagram of automatic speed-limiting regulating system disclosed by the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of another automatic speed-limiting regulating system disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another automatic speed-limiting regulating system disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that the term " first " and " second " etc. in description and claims of this specification are to be used for
Different objects is distinguished, is not use to describe a particular order.The term " includes " of the embodiment of the present invention and " having " and he
Any deformation, it is intended that cover it is non-exclusive include, for example, contain the process, method of a series of steps or units,
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include being not clearly listed
Or the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the invention discloses a kind of automatic speed-limiting adjusting method and system, can according to according to road conditions to vehicle into
Row automatic speed-limiting is adjusted, and can preferably face complex road condition.Attached drawing is combined below to be described in detail.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of automatic speed-limiting adjusting method disclosed by the embodiments of the present invention.From
As shown in Figure 1, this method may comprise steps of:
101, the first work information of the present road that Traffic Sign Recognition System identifies is obtained.
In the embodiment of the present invention, the first work information includes the first Maximum speed limit information and the first minimum of present road
Fast information；The acquisition of above- mentioned information can realize that Traffic Sign Recognition System identification is taken the photograph by the camera of vehicle front is arranged in
The present road image as taken by head, to be accused according to traffic mark board or electronics included in present road image
Show that board knows the first Maximum speed limit information and the first minimum speed-limiting messages of present road.
102, the second work information of present road provided by positioning system is obtained.
In the embodiment of the present invention, the second work information includes the second Maximum speed limit information of present road, the second minimum
Fast information and road curvature radius；Wherein, positioning system is stored with the work information of the road corresponding to geographical location information, fixed
GPS (Global Positioning System, the GPS) module that is configured according to vehicle of position system or its
The information that the locating module of its type is fed back knows the current geographical location of vehicle, to know geographical location locating for vehicle
The work information of corresponding present road and present road, the Maximum speed limit information of the present road including present road with most
The information such as the road curvature radius of low speed-limiting messages and present road.
It is understood that the second work information in addition to include present road the second Maximum speed limit information, second minimum
It can also include the road class of the road signs information of present road, present road except speed-limiting messages and road curvature radius
The work information of the present roads such as the lane change information of type, the traffic accident rate of present road and present road, the present invention are implemented
Example is with the second road signs information of present road, the second Maximum speed limit information, the second minimum speed-limiting messages and road curvature half
Second work information is described, without constituting the restriction to the second work information for diameter.
103, in conjunction with the first work information and the second work information, analysis obtains the speed-limiting messages of present road.
In the embodiment of the present invention, it is contemplated that in the case where meteorological condition is poor, Traffic Sign Recognition System is difficult to
Obtain the first work information, and when road carries out temporary construction, the second work information that positioning system is stored there may be
It updates and lags, the unmatched problem of work information, it is therefore desirable to the first work information of comprehensive analysis and the second work information, with
Obtain the speed-limiting messages of accurate present road.
As an alternative embodiment, the first Maximum speed limit information and the second work that the first work information of comparison includes
The minimum Maximum speed limit information of speed limit is set as current Maximum speed limit information by the second Maximum speed limit information that condition information includes, with
And compare the first minimum speed-limiting messages that the first work information includes and the minimum speed limit letter of second that the second work information includes
The highest minimum speed-limiting messages of speed limit are set as current minimum speed-limiting messages by breath, thus by current Maximum speed limit information and currently
Minimum speed-limiting messages are set as the speed-limiting messages of present road.Specifically, by comparing the first work information and the second work information,
The intersection of speed-limiting messages included by first work information and the second work information is set as to the speed-limiting messages of present road, example
Such as, the speed-limiting messages that the first work information of the present road that Traffic Sign Recognition System recognizes includes are 20~60kph (thousand
Rice is per hour), the speed-limiting messages that the second work information of present road provided by positioning system includes are 30~65kph, are led to
Cross in the first work information of comparison the second minimum speed-limiting messages in the first minimum speed-limiting messages 20kph and the second work information
The highest minimum speed-limiting messages 30kph of speed limit is set as current minimum speed-limiting messages by 30kph；It is compared in the first work information again
Second Maximum speed limit information 65kph in first Maximum speed limit information 60kph and the second work information limits the minimum highest of speed limit
Fast information 60kph is set as current Maximum speed limit information, thus by current Maximum speed limit information 60kph and current minimum speed-limiting messages
30kph is set as the speed-limiting messages of present road.As it can be seen that being reduced by the first work information of comprehensive analysis and the second work information
Speed restrictive block preferably avoids the speed limit regulation that vehicle violates present road in motion.
104, it is adjusted according to default cruising speed of the speed-limiting messages to vehicle, obtains vehicle in the current cruise of road
Speed is travelled with controlling vehicle on present road.
In the embodiment of the present invention, when driver opens the self-adaption cruise system of vehicle, pre-set vehicle is needed
Default cruising speed, travel self-adaption cruise system control vehicle on road with default cruising speed.In step 103
After having obtained the speed-limiting messages of present road, self-adaption cruise system by according to the speed-limiting messages of present road to the pre- of vehicle
If cruising speed is adjusted, to realize vehicle adaptive cruise.
As an alternative embodiment, the current Maximum speed limit information for including according to speed-limiting messages and current minimum
Fast information adjusts the default cruising speed of vehicle, adjusts vehicle in the current cruising speed of present road and is in current minimum speed limit
Speed interval defined by information and current Maximum speed limit information, and judge vehicle actual travel speed and current cruising speed
Whether match, if it is not, control vehicle is in present road with current cruising speeds.Specifically, it is assumed that the default cruise of vehicle
Speed is 65kph, is 60kph and current minimum speed limit letter in the current Maximum speed limit information that step 103 obtains present road
After breath is 30kph, in order to avoid the travel speed of vehicle surmounts 30~60kph of speed restrictive block, it can use in above-mentioned speed restrictive block
Between value 45kph be set as the current cruising speed of vehicle, the actual travel speed of vehicle is 65kph at this time, and judgement obtains vehicle
The current cruising speed 45kph of actual travel speed 65kph and vehicle is mismatched, therefore is controlled vehicle and gradually slowed down, until to work as
Preceding cruising speed 45kph is travelled on present road.As it can be seen that adjusting the current cruise of vehicle according to the speed-limiting messages of present road
Speed can neatly control vehicle and travel in speed restrictive block, realize the adaptive cruise of vehicle.
It is to be appreciated that the first operating condition that vehicle during traveling, is recognized with Traffic Sign Recognition System
The second work information moment provided by information and positioning system update, step 101~step 104 process also the moment into
Row, is updated the current cruising speed of vehicle to realize.
As it can be seen that implementing method described in Fig. 1, by the first work information of comprehensive analysis and the second work information, in vehicle
When in face of the complex road conditions such as temporary construction road, reasonable speed restrictive block and cruising speed can be set for vehicle, vehicle is made to exist
It can also realize that automatic speed-limiting is adjusted under complex road condition, there is stronger applicability.
Embodiment two
Referring to Fig. 2, Fig. 2 is the flow diagram of another automatic speed-limiting adjusting method disclosed by the embodiments of the present invention.
As shown in Fig. 2, this method may comprise steps of:
201, the first work information of the present road that Traffic Sign Recognition System identifies is obtained.
In the embodiment of the present invention, the first work information includes the first Maximum speed limit information and the first minimum of present road
The work information of the present roads such as fast information.
202, the second work information of present road provided by positioning system is obtained.
In the embodiment of the present invention, the second work information includes the second Maximum speed limit information of present road, the second minimum
The work information of the present roads such as fast information and road curvature radius.
203, in conjunction with the first work information and the second work information, analysis obtains the speed-limiting messages of present road.
In the embodiment of the present invention, by the first work information of comprehensive analysis and the second work information, obtain accurately current
The speed-limiting messages of road.
204, it is adjusted according to default cruising speed of the speed-limiting messages to vehicle, obtains vehicle in the current of present road
Cruising speed is travelled with controlling vehicle on present road.
In the embodiment of the present invention, self-adaption cruise system is controlled vehicle and is travelled on road with default cruising speed.
It is understood that when the self-adaption cruise system of vehicle is opened, even if emergency case, adaptive cruise occurs
System also only can control vehicle and continue to travel along pre-determined route, and therefore, the priority of the steering instructions of driver should be higher than that certainly
Adapt to cruise system.
As an alternative embodiment, when detecting the steering instructions that driver is inputted, according to driver institute
The steering instructions control vehicle of input travels on present road.It is needed when road ahead generation traffic accident, or in driver
In the case where sailing out of present road, driver will carry out active driving to vehicle, refer in the driving for detecting driver's input
When enabling, the steering instructions of preferential answering driver input do not carry out automatic speed-limiting adjusting to vehicle at this time, and defeated according to driver
The steering instructions control vehicle entered is travelled, so that driver can at any time intervene the traveling of vehicle.
205, the current cruising speed of vehicle is adjusted according to the road conditions in front of present road.
In the embodiment of the present invention, in step 204 control vehicle after present road is with current cruising speeds, also need to examine
Special road conditions existing for considering in front of present road, the front of such as the first work information or the second work information instruction present road
When road is the special road conditions such as abrupt slope or easy slideway road, then vehicle should be driven into cruising speed more lower than current cruising speed
Road ahead, to ensure traffic safety.
It should be understood that the first work information is in addition to including the first Maximum speed limit information of present road and first minimum
It can also include the road signs information of present road except speed-limiting messages, such as Traffic Sign Recognition System identifies and worked as
There are abrupt slope, easily cunning or forbidden sections in front of the road signs information instruction present road of preceding road, at this time, it may be necessary to vehicle
Carry out speed limit adjusting.
As an alternative embodiment, in control vehicle after present road is with current cruising speeds, when
It detects in front of the first work information instruction present road that Traffic Sign Recognition System identifies there are when abrupt slope, by vehicle
It is adjusted to that there are the numerical value of the corresponding cruising speed of the road on abrupt slope in the numerical value of the current cruising speed of present road.Specifically
Ground determines that vehicle should be current when it is the traffic mark board on abrupt slope that Traffic Sign Recognition System, which recognizes instruction road ahead,
Slow down on the basis of cruising speed and drive into abrupt slope again, the current cruising speed of vehicle can be reduced by 10% at this time, so that vehicle exists
Travel speed is reduced before driving into abrupt slope, while prompt information can be exported to driver, to remind driver vehicle that will drive into suddenly
Slope should be noted traffic safety, to can safely drive into abrupt slope in the state of adaptive cruise in vehicle；
As another optional embodiment, when the first operating condition for detecting that Traffic Sign Recognition System identifies
When information indicates to have easily sliding traffic sign in front of present road, by vehicle the current cruising speed of present road numerical value tune
Section is the numerical value of the corresponding cruising speed in easy slideway road.Specifically, instruction road ahead is recognized in Traffic Sign Recognition System
For easy slideway road traffic mark board when, determine that vehicle should slow down on the basis of current cruising speed and drive into abrupt slope again, at this time
The current cruising speed of vehicle can be reduced by 10%, so that vehicle reduces travel speed before driving into easy slideway road, while can be to
Driver exports prompt information and should be noted traffic safety, thus in vehicle to remind driver vehicle that will drive into easy slideway road
Easy slideway road can be safely driven into the state of adaptive cruise；
As another optional embodiment, when the first operating condition for detecting that Traffic Sign Recognition System identifies
When indicating to have the traffic sign that no through traffic in front of present road, by vehicle the current cruising speed of present road numerical value
The half of the numerical value for current cruising speed is turned down, and exports the first prompt information to prompt driver's road ahead to forbid sailing
Enter.Specifically, when it is the traffic mark board of prohibited route that Traffic Sign Recognition System, which recognizes instruction road ahead, really
Determining vehicle should slow down and other roads that enter a new line as early as possible, and the current cruising speed of vehicle can reduce to 50% at this time, while can be to driving
The person of sailing exports prompt information, to remind driver vehicle close to prohibited route, so that vehicle is close to no through traffic road
Before road, driver has sufficient time parking or other roads that enter a new line, so as to avoid vehicle adaptive cruise shape
Prohibited route is driven under state.
In addition, it is contemplated that Traffic Sign Recognition System presence can not identify the first work in the case where meteorological condition is poor
The possibility of condition information, thus Traffic Sign Recognition System can not normal use when, need to take vehicle different automatic limitings
Fast adjustment control method.
As an alternative embodiment, being adjusted according to default cruising speed of the speed-limiting messages to vehicle, obtain
To vehicle after the current cruising speed of road is travelled on present road with to control vehicle, when Traffic Sign Recognition System without
Road curvature when method identifies to obtain the first work information of present road, in front of the present road according to provided by positioning system
Radius searches the speed to match with road curvature radius in the radius of curvature table of comparisons, will match with road curvature radius
Speed be set as vehicle in the current cruising speed of present road, and export the first prompt information to prompt driver's road ahead
There are bends.Wherein, the radius of curvature table of comparisons is road curvature radius table corresponding with cruising speed, for road curvature
The small road of radius, bend angle is larger, and vehicle need to be with lower cruising speeds, the road big for road curvature radius
Road, bend angle is smaller, and vehicle can be with higher cruising speeds, for example, the road for being 15 meters for road curvature radius
Road, the cruising speed of vehicle on it is up to 20kph, and the road for being 30 meters for road curvature radius, and vehicle is on it
Cruising speed be up to 30kph, the road curvature radius in front of present road is got by positioning system, and then in curvature
The current cruising speed that speed corresponding with the road curvature radius is set as vehicle is found on the radius table of comparisons, to ensure that
In the state of adaptive cruise, vehicle can be travelled safely on bend.
It is understood that Traffic Sign Recognition System passes through the camera that vehicle front is arranged in, work as in addition to can recognize
The road signs information of preceding road can also be analyzed to obtain the distance between vehicle and front vehicles.
As an alternative embodiment, vehicle with current cruising speeds when present road, control vehicle with
Default safe distance is kept between vehicle front, to avoid collision is generated with front vehicles in motion；
Still optionally further, when detecting that the instruction of the first work information that Traffic Sign Recognition System identifies is current
When road ahead is the complex road conditions such as easy ways section or abrupt slope, by vehicle the default safe distance of present road numerical value tune
Height, so that driver be made to have the longer reply time to cope with the complex road condition in front.
It should be understood that the first work information is in addition to road signs information, the first Maximum speed limit including present road
It can also include being identified acquired in camera and by Traffic Sign Recognition System except information and the first minimum speed-limiting messages
Pedestrian information of the traffic congestion information of the present road arrived, the temporary construction information of present road and vehicle front etc. is current
The work information of road, the embodiment of the present invention with the road signs information of present road, the first Maximum speed limit information and first most
The first work information is described for low speed-limiting messages, should not constitute the restriction to the first work information.
As it can be seen that implementing method described in Fig. 2, vehicle is in the state of adaptive cruise, in addition to according to present road pair
Vehicle carries out automatic speed-limiting adjusting, and the current cruising speed of vehicle can be also adjusted according to the special road conditions of road ahead, it is ensured that
Vehicle safety drives into road ahead.
Embodiment three
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram of automatic speed-limiting regulating system disclosed by the embodiments of the present invention.Such as
Shown in Fig. 3, which may include:
First acquisition unit 301, for obtaining the first work of the present road that Traffic Sign Recognition System identifies
Condition information；
Second acquisition unit 302, for obtaining the second work information of present road provided by positioning system；
Speed limit analytical unit 303, for combining the first work information and the second work information, analysis obtains present road
Speed-limiting messages；
First adjusting unit 304 obtains vehicle for being adjusted according to default cruising speed of the speed-limiting messages to vehicle
It is travelled in the current cruising speed of present road with controlling vehicle on present road.
Wherein, speed limit analytical unit 303 specifically includes:
Contrast subunit 3031, for comparing the first Maximum speed limit information and the second operating condition letter that the first work information includes
The minimum Maximum speed limit information of speed limit is set as current Maximum speed limit information by the second Maximum speed limit information that breath includes, and, it is right
The second minimum speed-limiting messages that the first minimum speed-limiting messages and the second work information for including than the first work information include, will limit
The highest minimum speed-limiting messages of speed are set as current minimum speed-limiting messages；
Subelement 3032 is set, for current Maximum speed limit information and current minimum speed-limiting messages to be set as present road
Speed-limiting messages.
And first adjusting unit 304 specifically include:
Regulator unit 3041, current Maximum speed limit information and current minimum speed limit for including according to speed-limiting messages are believed
Breath adjusts the default cruising speed of vehicle, adjusts vehicle in the current cruising speed of present road and is in current minimum speed-limiting messages
With speed interval defined by current Maximum speed limit information；
Judgment sub-unit 3042, for judging whether the actual travel speed of vehicle matches with current cruising speed；
Subelement 3043 is controlled, the actual travel speed and current cruising speed for determining vehicle in judgment sub-unit are not
When matching, vehicle is controlled in present road with current cruising speeds.
In the embodiment of the present invention, speed limit analytical unit 303 is obtained single by comprehensive analysis first acquisition unit 301 and second
First work information and the second work information accessed by member 302 obtain vehicle in the speed-limiting messages of present road, thus the
The default cruising speed of vehicle is adjusted to current cruising speed according to speed-limiting messages by one adjusting unit 304, and according to currently patrolling
Boat speed control vehicle travels on present road.
As an alternative embodiment, contrast subunit 3031 compares the first highest limit that the first work information includes
The second Maximum speed limit information that fast information and the second work information include, setting subelement 3032 Maximum speed limit that speed limit is minimum
Information is set as current Maximum speed limit information, and, contrast subunit 3031 compares the first minimum that the first work information includes
The second minimum speed-limiting messages that fast information and the second work information include set subelement 3032 for the highest minimum speed limit of speed limit
Information is set as current minimum speed-limiting messages, so that current Maximum speed limit information and current minimum speed-limiting messages are set as present road
Speed-limiting messages.Specifically, the first work information and the second work information are compared by contrast subunit 3031, sets subelement
3032 are set as the intersection of speed-limiting messages included by the first work information and the second work information the speed-limiting messages of present road,
For example, the speed-limiting messages that the first work information of the present road that Traffic Sign Recognition System recognizes includes are 20~60kph
(kilometer per hour), the speed-limiting messages that the second work information of present road provided by positioning system includes are 30~65kph,
Pass through in the first minimum speed-limiting messages 20kph in the first work information of comparison of contrast subunit 3031 and the second work information second
The highest minimum speed-limiting messages 30kph of speed limit is set as current minimum speed limit by minimum speed-limiting messages 30kph, setting subelement 3032
Information；Contrast subunit 3031 is compared in the first work information again in the first Maximum speed limit information 60kph and the second work information
Second Maximum speed limit information 65kph sets subelement 3032 for the minimum Maximum speed limit information 60kph of speed limit and is set as current highest
Current Maximum speed limit information 60kph and current minimum speed-limiting messages 30kph are set as by speed-limiting messages to set subelement 3032
The speed-limiting messages of present road.As it can be seen that analyzing the first work information and the second operating condition letter by comprehensive speed limit analytical unit 303
Breath reduces speed restrictive block, preferably avoids the speed limit regulation that vehicle violates present road in motion.
As an alternative embodiment, the current Maximum speed limit information for including according to speed-limiting messages and current minimum
Fast information adjusts the default cruising speed of vehicle, and regulator unit 3041 adjusts vehicle at the current cruising speed of present road
The speed interval defined by current minimum speed-limiting messages and current Maximum speed limit information, judgment sub-unit 3042 judge vehicle
Whether actual travel speed matches with current cruising speed, if it is not, control subelement 3043 controls vehicle in present road to work as
Preceding cruising speeds.Specifically, it is assumed that the default cruising speed of vehicle is 65kph, is obtained currently in speed limit analytical unit 303
After the current Maximum speed limit information of road is 60kph and currently minimum speed-limiting messages are 30kph, in order to avoid the traveling of vehicle
Speed surmounts 30~60kph of speed restrictive block, and the median 45kph that regulator unit 3041 can use above-mentioned speed restrictive block is set as vehicle
Current cruising speed, at this time the actual travel speed of vehicle be 65kph, judgment sub-unit 3042 judgement obtain the reality of vehicle
The current cruising speed 45kph of travel speed 65kph and vehicle is mismatched, therefore is controlled the control vehicle of subelement 3043 and gradually subtracted
Speed, until being travelled on present road with current cruising speed 45kph.As it can be seen that first adjusts unit 304 according to present road
Speed-limiting messages adjust the current cruising speed of vehicle, can neatly control vehicle and travel in speed restrictive block, realize vehicle oneself
Adapt to cruise.
As it can be seen that automatic speed-limiting regulating system described in implementing Fig. 3, passes through 303 comprehensive analysis first of speed limit analytical unit
Work information and the second work information can be reasonable for vehicle setting when vehicle is in face of complex road conditions such as temporary construction roads
Speed restrictive block and cruising speed make vehicle that can also realize that automatic speed-limiting is adjusted under complex road condition, have stronger applicability.
Example IV
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of another automatic speed-limiting regulating system disclosed by the embodiments of the present invention.
Wherein, automatic speed-limiting regulating system shown in Fig. 4 is that automatic speed-limiting regulating system as shown in Figure 3 advanced optimizes.
Compared with automatic speed-limiting regulating system shown in Fig. 3, automatic speed-limiting regulating system shown in Fig. 4 further include:
Second adjusts unit 305, controls vehicle in present road with current cruising speed for adjusting unit 304 first
After traveling, when first acquisition unit 301 detects the first work information instruction that Traffic Sign Recognition System identifies
There are when abrupt slope in front of present road, vehicle is adjusted to the road there are abrupt slope in the numerical value of the current cruising speed of present road
The numerical value of the corresponding cruising speed in road；
Or for detecting the first operating condition letter that Traffic Sign Recognition System identifies when first acquisition unit 301
When there is easily sliding traffic sign in front of breath instruction present road, the numerical value by vehicle in the current cruising speed of present road is adjusted
For the numerical value of the corresponding cruising speed in easy slideway road；
Or for detecting the first operating condition letter that Traffic Sign Recognition System identifies when first acquisition unit 301
When there is the traffic sign that no through traffic in front of breath instruction present road, by vehicle the current cruising speed of present road number
Value turns down the half of the numerical value for current cruising speed, and exports the first prompt information to prompt driver's road ahead to forbid sailing
Enter.
Bend adjusts unit 306, for first adjust unit according to speed-limiting messages to the default cruising speed of vehicle into
Row is adjusted, and is obtained vehicle after the current cruising speed of present road is travelled on present road to control vehicle, is worked as traffic
It is described current according to provided by positioning system when sign recognition system can not identify to obtain the first work information of present road
The road curvature radius of road ahead searches the speed to match with road curvature radius in the radius of curvature table of comparisons, will be with
The speed that road curvature radius matches is set as vehicle in the current cruising speed of present road, and export the first prompt information with
Prompting driver's road ahead, there are bends.
Instruction control unit 307, for being inputted according to driver when detecting the steering instructions that driver is inputted
Steering instructions control vehicle travelled on the present road.
In the embodiment of the present invention, second adjusts unit 305 for the current cruise speed according to the road conditions of road ahead to vehicle
Degree is adjusted, and bend adjusts unit 306 can adjust the current cruising speed of vehicle according to road curvature radius, and instruction control is single
The steering instructions that member 307 responds driver's input control vehicle driving.
As an alternative embodiment, adjusting unit 304 first controls vehicle in present road currently to cruise
After speed traveling, when the first work information instruction present road front for detecting that Traffic Sign Recognition System identifies
There are when abrupt slope, vehicle is adjusted to that there are abrupt slopes by the second adjusting unit 305 in the numerical value of the current cruising speed of present road
The corresponding cruising speed of road numerical value.Specifically, recognizing instruction road ahead in Traffic Sign Recognition System is abrupt slope
Traffic mark board when, the second adjusting unit 305 determines that vehicle should slow down on the basis of current cruising speed and drive into abrupt slope again,
The current cruising speed of vehicle can be reduced by 10% at this time, so that vehicle reduces travel speed before driving into abrupt slope, while can be to
Driver, which exports prompt information, to remind driver vehicle that will drive into abrupt slope should be noted traffic safety, thus vehicle can be
Abrupt slope is safely driven into the state of adaptive cruise；
As another optional embodiment, when the first operating condition for detecting that Traffic Sign Recognition System identifies
When indicating to have easily sliding traffic sign in front of present road, second adjust unit 305 by vehicle present road current cruise
The numerical value of speed is adjusted to the numerical value of the corresponding cruising speed in easy slideway road.Specifically, it is recognized in Traffic Sign Recognition System
When indicating that road ahead is the traffic mark board on easy slideway road, second, which adjusts unit 305, determines that vehicle should be in current cruising speed
On the basis of slow down and drive into abrupt slope again, the current cruising speed of vehicle can be reduced by 10% at this time, so that vehicle is driving into easy cunning
Travel speed is reduced before road, while can export prompt information to driver, to remind driver vehicle that will drive into easy slideway
Road should be noted traffic safety, to can safely drive into easy slideway road in the state of adaptive cruise in vehicle；
As another optional embodiment, when the first operating condition for detecting that Traffic Sign Recognition System identifies
When information is indicated in front of present road in the presence of the traffic sign that no through traffic, second adjusts unit 305 for vehicle in present road
The numerical value of current cruising speed turn down the half of the numerical value for current cruising speed, and export the first prompt information to prompt to drive
No entry for the person's of sailing road ahead.Specifically, recognizing instruction road ahead in Traffic Sign Recognition System is no through traffic road
When the traffic mark board on road, the second determining vehicle of adjusting unit 305 should slow down as early as possible and other roads that enter a new line, at this time can be by vehicle
Current cruising speed reduce by 50%, while prompt information can be exported to driver, to remind driver vehicle close to forbidding
Passing road, so that vehicle is before prohibited route, driver has sufficient time parking or other roads that enter a new line
Prohibited route is driven into the state of adaptive cruise so as to avoid vehicle in road.
As an alternative embodiment, adjusting default cruise of the unit 304 according to speed-limiting messages to vehicle first
Speed is adjusted, and obtains vehicle after the current cruising speed of road is travelled on present road to control vehicle, works as friendship
When logical sign recognition system can not identify to obtain the first work information of present road, bend adjusts unit 306 according to positioning and is
Road curvature radius in front of present road provided by uniting is searched and road curvature radius phase in the radius of curvature table of comparisons
The speed to match with road curvature radius is set as vehicle in the current cruising speed of present road, and exported by the speed matched
There are bends to prompt driver's road ahead for first prompt information.Wherein, the radius of curvature table of comparisons be road curvature radius with
The corresponding table of cruising speed, the road small for road curvature radius, bend angle is larger, and vehicle need to be patrolled with lower
Speed of a ship or plane degree traveling, the road big for road curvature radius, bend angle is smaller, and vehicle can be with higher cruising speed row
It sails, for example, the road for being 15 meters for road curvature radius, the cruising speed of vehicle on it is up to 20kph, and for road
The road that road radius of curvature is 30 meters, the cruising speed of vehicle on it is up to 30kph, is got currently by positioning system
The road curvature radius of road ahead, and then bend adjusts unit 306 and finds on the radius of curvature table of comparisons and road song
The corresponding speed of rate radius is set as the current cruising speed of vehicle, to ensure that in the state of adaptive cruise, vehicle can
Safely travelled on bend.
As an alternative embodiment, when detecting the steering instructions that driver is inputted, instruction control unit
The 307 steering instructions control vehicles inputted according to driver travel on present road.When road ahead occur traffic accident,
Or in the case where driver needs to sail out of present road, driver will carry out active driving to vehicle, single in instruction control
Member 307 detect driver input steering instructions when, preferential answering driver input steering instructions, at this time not to vehicle into
Row automatic speed-limiting is adjusted, and is travelled according to the steering instructions control vehicle of driver's input, so that driver can be right at any time
The traveling of vehicle is intervened.
It is understood that Traffic Sign Recognition System passes through the camera that vehicle front is arranged in, work as in addition to can recognize
The road signs information of preceding road can also be analyzed to obtain the distance between vehicle and front vehicles.
As an alternative embodiment, vehicle with current cruising speeds when present road, control vehicle with
Default safe distance is kept between vehicle front, to avoid collision is generated with front vehicles in motion；
Still optionally further, when the first road signs information instruction for detecting that Traffic Sign Recognition System identifies
When being the complex road conditions such as easy ways section or abrupt slope in front of present road, second adjusts unit 305 for vehicle in present road
The numerical value of default safe distance is turned up, so that driver be made to have the longer reply time to cope with the complex road condition in front.
As it can be seen that implementing automatic speed-limiting regulating system described in Fig. 4, vehicle is in the state of adaptive cruise, in addition to limit
Fast analytical unit 303 and first adjusts unit 304 according to present road to vehicle progress automatic speed-limiting adjusting, and second adjusts unit
305 and bend adjust unit 306 also according to road ahead special road conditions adjust vehicle current cruising speed, it is ensured that vehicle
Safety drives into road ahead.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another automatic speed-limiting regulating system disclosed by the embodiments of the present invention.
As shown in figure 5, the automatic speed-limiting regulating system may include:
It is stored with the memory 501 of executable program code；
The processor 502 coupled with memory 501；
Wherein, processor 502 calls the executable program code stored in memory 501, and it is any one to execute FIG. 1 to FIG. 4
Kind automatic speed-limiting adjusting method.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes computer execute any one automatic speed-limiting adjusting method of FIG. 1 to FIG. 4.
The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journey
Sequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodiment
In some or all of method step.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks
On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
A kind of automatic parking method disclosed by the embodiments of the present invention and vehicle control system have been carried out in detail above
It introduces, used herein a specific example illustrates the principle and implementation of the invention, the explanation of above embodiments
It is merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (15)
1. a kind of automatic speed-limiting adjusting method characterized by comprising
Obtain the first work information of the present road that Traffic Sign Recognition System identifies；
Obtain the second work information of the present road provided by positioning system；
In conjunction with first work information and second work information, analysis obtains the speed-limiting messages of the present road；
It is adjusted according to default cruising speed of the speed-limiting messages to vehicle, obtains the vehicle in the present road
Current cruising speed is travelled with controlling the vehicle on the present road.
2. the method according to claim 1, wherein first work information includes the of the present road
One Maximum speed limit information and the first minimum speed-limiting messages；And second work information includes the second of the present road
Maximum speed limit information, the second minimum speed-limiting messages and road curvature radius.
3. according to the method described in claim 2, it is characterized in that, the first work information described in the combination and second work
Condition information, analysis obtain the speed-limiting messages of the present road, comprising:
Compare the first Maximum speed limit information that first work information includes and the institute that second work information includes
The second Maximum speed limit information is stated, the minimum Maximum speed limit information of speed limit is set as current Maximum speed limit information, and, described in comparison
Second minimum that the described first minimum speed-limiting messages and second work information that first work information includes include
The highest minimum speed-limiting messages of speed limit are set as current minimum speed-limiting messages by fast information；
The current Maximum speed limit information and the current minimum speed-limiting messages are set as to the speed-limiting messages of the present road.
4. according to the method described in claim 3, it is characterized in that, the default cruise according to the speed-limiting messages to vehicle
Speed is adjusted, and obtains the vehicle in the current cruising speed of the road to control the vehicle in the current road
Road travels, comprising:
Described in the current Maximum speed limit information and the current minimum speed-limiting messages for including according to the speed-limiting messages are adjusted
The default cruising speed of vehicle, adjust the vehicle the current cruising speed of the present road be in it is described it is current most
Speed interval defined by low speed-limiting messages and the current Maximum speed limit information；
Judge whether the actual travel speed of the vehicle matches with the current cruising speed；
If it is not, controlling the vehicle in the present road with the current cruising speeds.
5. according to the method described in claim 4, it is characterized in that, being worked as controlling the vehicle in the present road with described
After preceding cruising speeds, the method also includes:
When first work information instruction present road for detecting that the Traffic Sign Recognition System identifies
The vehicle is adjusted to the road there are abrupt slope in the numerical value of the current cruising speed of the present road there are when abrupt slope by front
The numerical value of the corresponding cruising speed in road；
When first work information instruction present road for detecting that the Traffic Sign Recognition System identifies
When front has easily sliding traffic sign, the numerical value by the vehicle in the current cruising speed of the present road is adjusted to easy cunning
The numerical value of the corresponding cruising speed of road；
When first work information instruction present road for detecting that the Traffic Sign Recognition System identifies
When front has the traffic sign that no through traffic, the numerical value by the vehicle in the current cruising speed of the present road is turned down
For the half of the numerical value of the current cruising speed, and the first prompt information is exported to prompt driver's road ahead to forbid sailing
Enter.
6. method according to claim 1 or 2, which is characterized in that it is described according to the speed-limiting messages to the pre- of vehicle
If cruising speed is adjusted, obtains the vehicle and worked as in the current cruising speed of the road with controlling the vehicle described
After being travelled on preceding road, the method also includes:
When the Traffic Sign Recognition System can not identify to obtain the first work information of present road, it is according to the positioning
Road curvature radius in front of the present road provided by uniting is searched and the road curvature in the radius of curvature table of comparisons
The speed that radius matches is set as the vehicle in the current road with the speed that the road curvature radius matches for described
The current cruising speed on road, and there are bends to prompt driver's road ahead for the first prompt information of output.
7. the method according to claim 1, wherein the method also includes:
When detecting the steering instructions that driver is inputted, the vehicle is controlled according to the steering instructions that the driver is inputted
It is travelled on the present road.
8. a kind of automatic speed-limiting regulating system characterized by comprising
First acquisition unit, for obtaining the first work information of the present road that Traffic Sign Recognition System identifies；
Second acquisition unit, for obtaining the second work information of the present road provided by positioning system；
Speed limit analytical unit, in conjunction with first work information and second work information, analysis to obtain described current
The speed-limiting messages of road；
First adjusting unit obtains the vehicle for being adjusted according to default cruising speed of the speed-limiting messages to vehicle
It is travelled in the current cruising speed of the road with controlling the vehicle on the present road.
9. system according to claim 8, which is characterized in that first work information includes the of the present road
One Maximum speed limit information and the first minimum speed-limiting messages；And second work information includes the second of the present road
Maximum speed limit information, the second minimum speed-limiting messages and road curvature radius.
10. system according to claim 9, which is characterized in that the speed limit analytical unit includes:
Contrast subunit, for comparing the first Maximum speed limit information and second work that first work information includes
The minimum Maximum speed limit information of speed limit is set as current Maximum speed limit and believed by the second Maximum speed limit information that condition information includes
Breath, and, compare the described first minimum speed-limiting messages that first work information includes includes with second work information
The described second minimum speed-limiting messages, the highest minimum speed-limiting messages of speed limit are set as current minimum speed-limiting messages；
Subelement is set, for the current Maximum speed limit information and the current minimum speed-limiting messages to be set as the current road
The speed-limiting messages on road.
11. system according to claim 10, which is characterized in that described first, which adjusts unit, includes:
Regulator unit, the current Maximum speed limit information and the current minimum for including according to the speed-limiting messages
Fast information adjusts the default cruising speed of the vehicle, adjusts the vehicle in the current cruising speed of the present road
In the current minimum speed-limiting messages and speed interval defined by the current Maximum speed limit information；
Judgment sub-unit, for judging whether the actual travel speed of the vehicle matches with the current cruising speed；
Subelement is controlled, for determining the actual travel speed and the current cruise speed of the vehicle in the judgment sub-unit
When degree mismatches, the vehicle is controlled in the present road with the current cruising speeds.
12. system according to claim 11, which is characterized in that the system also includes:
Second adjusts unit, is currently patrolled in the present road with described for controlling the vehicle in the first adjusting unit
After speed of a ship or plane degree traveling, when the first acquisition unit detect that the Traffic Sign Recognition System identifies described the
One work information indicates in front of the present road there are when abrupt slope, and the vehicle is fast in the current cruise of the present road
The numerical value of degree is adjusted to that there are the numerical value of the corresponding cruising speed of the road on abrupt slope；
Or for detecting described first that the Traffic Sign Recognition System identifies when the first acquisition unit
When work information indicates to have easily sliding traffic sign in front of the present road, by the vehicle in the current of the present road
The numerical value of cruising speed is adjusted to the numerical value of the corresponding cruising speed in easy slideway road；
Or for detecting described first that the Traffic Sign Recognition System identifies when the first acquisition unit
When work information is indicated in front of the present road in the presence of the traffic sign that no through traffic, by the vehicle in the present road
The numerical value of current cruising speed turn down the half of the numerical value for the current cruising speed, and export the first prompt information to mention
Show that No entry for driver's road ahead.
13. system according to claim 8 or claim 9, which is characterized in that the system also includes:
Bend adjusts unit, for described first adjust unit according to the speed-limiting messages to the default cruising speed of vehicle into
Row is adjusted, and obtains the vehicle in the current cruising speed of the present road to control the vehicle on the present road
After traveling, when the Traffic Sign Recognition System can not identify to obtain the first work information of present road, according to described
Road curvature radius in front of the present road provided by positioning system is searched and the road in the radius of curvature table of comparisons
The speed to match with the road curvature radius is set as the vehicle described by the speed that road radius of curvature matches
The current cruising speed of present road, and there are bends to prompt driver's road ahead for the first prompt information of output.
14. system according to claim 7, which is characterized in that the system also includes:
Instruction control unit, for being inputted according to the driver when detecting the steering instructions that driver is inputted
Steering instructions control the vehicle and travel on the present road.
15. a kind of vehicle, which is characterized in that the vehicle includes that the described in any item automatic speed-limitings of claim 7~14 are adjusted
System.
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| CN113391084A (en) * | 2021-06-02 | 2021-09-14 | 中寰卫星导航通信有限公司黑龙江分公司 | Vehicle speed limit monitoring method and device, vehicle-mounted terminal and computer storage medium |
| CN114132312A (en) * | 2021-11-30 | 2022-03-04 | 上汽通用五菱汽车股份有限公司 | Vehicle speed limiting method, system, device and computer readable storage medium |
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Application publication date: 20190510 |