CN111845743A - Vehicle cruise control method, device, vehicle and storage medium - Google Patents
Vehicle cruise control method, device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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Abstract
The embodiment of the invention discloses a vehicle cruise control method and device, a vehicle and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: when a vehicle is in an automatic cruise mode, acquiring a speed limit area in the driving direction of the vehicle; acquiring a speed limit value corresponding to the speed limit area and the current speed of the vehicle; when the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area; when the current distance meets a preset condition, the speed of the vehicle is adjusted so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area, and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area. The invention can effectively avoid the condition of overspeed violation and the occurrence of traffic accidents, and improve the vehicle passing efficiency.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a vehicle cruise control method and apparatus, a vehicle, and a storage medium.
Background
With the rapid development of the automatic driving technology, more and more vehicles are provided with cruise control systems, and the cruise control systems are systems for keeping the automobiles automatically run at a constant speed by using an electronic control technology. The speed per hour locking device has the main effects that the speed per hour of a vehicle can be locked according to the requirements of a driver, the vehicle can automatically keep a fixed speed per hour to run without stepping on an accelerator pedal, when the vehicle runs on a highway, the body fatigue of the driver can be effectively relieved, and the fuel consumption can be saved when the vehicle runs at the same speed.
However, the current cruise control system for vehicles is applicable to a single road environment, and cannot be applied to complex road conditions, for example, various speed-limiting nodes exist on a road or a road condition that a vehicle entrance needs to limit speed exists, a driver needs to intervene in driving at the moment, and if the intervention is not timely, violation of regulations or traffic accidents can be caused, so that the driving safety and better user experience cannot be guaranteed.
Disclosure of Invention
In view of the above problems, the present invention proposes a vehicle cruise control method, apparatus, vehicle, and storage medium to solve at least one of the above problems.
The embodiment of the invention provides a vehicle cruise control method, which comprises the following steps: when the vehicle is in an automatic cruise mode, acquiring a speed limit area in the driving direction of the vehicle; acquiring a speed limit value corresponding to a speed limit area and the current speed of the vehicle; when the current vehicle speed exceeds a speed limit value, acquiring the current distance between the vehicle and a speed limit area; when the current distance meets the preset condition, the speed of the vehicle is adjusted so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area, and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area.
An embodiment of the present invention provides a vehicle cruise control apparatus including: speed limit area acquisition module, speed limit value and current speed of a motor vehicle acquisition module, current distance acquisition module and control module, wherein: the speed-limiting area acquisition module is used for acquiring a speed-limiting area in the driving direction of the vehicle when the vehicle is in an automatic cruise mode; the speed limit value and current vehicle speed acquisition module is used for acquiring a speed limit value corresponding to a speed limit area and the current vehicle speed of the vehicle; the current distance acquisition module is used for acquiring the current distance between the vehicle and the speed limit area when the current vehicle speed exceeds the speed limit value; and the control module is used for adjusting the speed of the vehicle when the current distance meets the preset condition so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area.
Embodiments of the present invention provide a smart vehicle including one or more processors, memory, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the vehicle cruise control methods of the above-described embodiments.
The embodiment of the invention provides a computer-readable storage medium, wherein a program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the vehicle cruise control method of the embodiment.
According to the vehicle cruise control method, the vehicle cruise control device, the vehicle and the storage medium provided by the embodiment of the invention, when the vehicle is in the automatic cruise mode, the speed limit area in the driving direction of the vehicle is obtained, and the speed limit value corresponding to the speed limit area and the current speed of the vehicle are obtained. And if the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area. And if the current distance meets the preset condition, regulating the speed of the vehicle so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area. The vehicle obtains the speed limit area and the speed limit value of the speed limit area in advance in the driving process, and automatically adjusts the vehicle speed according to the speed limit value of the speed limit area and the current speed at a proper position away from the speed limit area, so that the conditions of overspeed violation and traffic accidents can be effectively avoided, and the user experience is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a schematic diagram of an application environment according to an embodiment of the present invention.
Fig. 2 shows a flow chart of a vehicle cruise control method according to an embodiment of the present invention.
Fig. 3 shows a flow chart of a vehicle cruise control method according to another embodiment of the present invention.
Fig. 4 shows a flowchart of a method according to one embodiment of the invention provided at step S260 in the vehicle cruise control method shown in fig. 3.
Fig. 5 shows a schematic diagram of the division of a speed limit area according to an embodiment of the present invention.
Fig. 6 shows a flowchart of a method for providing another embodiment of step S260 in the vehicle cruise control method shown in fig. 3 according to the present invention.
Fig. 7 is a diagram illustrating the division of a speed limit zone according to another embodiment of the present invention.
Fig. 8 shows a flow chart of a vehicle cruise control method according to yet another embodiment of the present invention.
Fig. 9 shows a functional block diagram of a vehicle cruise control apparatus according to an embodiment of the present invention.
Fig. 10 shows a block diagram of a vehicle according to an embodiment of the present invention.
Fig. 11 is a storage medium for storing or carrying program codes for implementing a vehicle cruise control method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
With the rapid development of the automatic driving technology of the electric vehicle, drivers become more and more relaxed and convenient when driving intelligent vehicles. Among them, an Adaptive Cruise Control (ACC) system is widely used in vehicles as a basic function in automatic driving of vehicles, and can effectively relieve driving fatigue, improve vehicle driving safety, and increase road traffic flow. The basic principle of the system is as follows: the vehicle-mounted sensor is used for sensing the states of the vehicle and the traffic flow, the driving operation of the driver on the vehicle is combined, and the driving system and the braking system of the vehicle are automatically controlled by using a control algorithm, so that the vehicle keeps an expected longitudinal motion state, and the functions of vehicle following control, constant-speed cruising and the like are realized. Specifically, when the adaptive cruise control system operates, a vehicle distance sensor (radar) at the front part of a vehicle can continuously scan the road in front of the vehicle, and meanwhile, a wheel speed sensor collects a vehicle speed signal, and the vehicle runs under the premise of ensuring a certain safety distance by coordinating with a brake anti-lock system and an engine control system.
However, the current cruise control system is usually only suitable for a single road condition, but various speed-limiting nodes exist on an actual driving road or the road condition that a vehicle enters an entrance and needs speed limitation or attention is existed, so that a driver still has to intervene in the cruise control system of the vehicle to realize speed reduction control of the vehicle and the like in a manual mode in order to avoid violation of regulations or traffic accidents after the cruise control system is started. However, the driver will have the following problems if he intervenes in the cruise control system: 1. the driver fails to intervene in time (such as listening to music or chatting or wandering), so that the driver breaks down the speed to cause violation behaviors such as overspeed passing and the like or overtaking a preceding vehicle for sudden and sudden braking in response to the speed limit because constant-speed cruising is performed. 2. The driver is late in intervention and is in need of sudden braking, so that safety risks such as rear-end collision exist. 3. The driver needs to restore the constant-speed cruising or ACC self-adaptive cruising state after frequent intervention, and the driving experience is influenced.
The inventor finds that the vehicle speed limit of the road is obtained by using navigation positioning, and the cruise vehicle speed is set to ensure that the vehicle does not run at an overspeed. However, this kind of vehicle is basically only suitable for constant speed cruising, and different road sections all use fixed speed to travel, and can't select suitable speed according to road conditions, for example if there is a congested road section in the speed-limiting area, the vehicle will use lower speed to travel in congested road section and non-congested road section in order to ensure safety, thereby reducing traffic efficiency, and even causing congestion in the speed-limiting area.
Therefore, in order to solve the above problems, the inventor provides a vehicle cruise control method, a device, a vehicle and a storage medium in the embodiments of the present invention, which can start a cruise control system in a vehicle, can detect a speed limit area in advance, and automatically reduce the vehicle speed below the speed limit value when entering the speed limit area, thereby effectively avoiding the occurrence of overspeed violation and traffic accidents, and also avoiding the problem that the smoothness of the cruise control system is affected by the intervention of a driver.
Different control states are realized for the vehicle according to different roads and different vehicle speeds, so that the longitudinal accurate control of the vehicle is realized.
The following description is directed to an application environment of a vehicle cruise control method provided by the implementation of the present invention:
referring to fig. 1, a vehicle cruise control method according to an embodiment of the present invention may be applied to a vehicle-mounted control device, where the vehicle-mounted control device 100 may be configured in a vehicle, and the vehicle-mounted control device 100 may include: the device comprises a processor 110, a memory 120, a wheel speed sensor 130, a wireless communication module 140, and a navigation positioning module 150, wherein the processor 110 may be connected to the memory 120, the wheel speed sensor 130, the wireless communication module 140, and the navigation positioning module 150, respectively.
The memory 120 is used for storing data such as instructions, programs, code sets or instruction sets. The wheel speed sensor 130 is used for acquiring wheel speed information of the vehicle, and the processor 110 may calculate information such as a current vehicle speed of the vehicle according to the wheel speed information. The wireless communication module 140 may be used to implement information transmission between the vehicle and the external device, for example, implement data transmission between the vehicle and the traffic information server, so as to receive the real-time traffic information broadcast by the traffic information server. Optionally, the wireless communication module 140 includes but is not limited to: a 4G network communication module, a 5G network communication module, etc.
The Navigation and Positioning module 150 is configured to detect the position information of the vehicle in real time, and optionally, the Navigation and Positioning module 150 may be a Global Navigation Satellite System (Global Navigation Satellite System GNSS), which refers to all Satellite Navigation systems, including Global, regional, and enhanced Satellite Navigation systems, such as Global Positioning System (GPS) in the united states, Global Navigation Satellite System (Glonass) in russia, Galileo Satellite Navigation System (Glonass) in europe, Galileo Satellite Navigation System (Galileo), beidou Satellite Navigation System in china, and related enhanced systems, such as WAAS (wide area enhanced System) in the united states, EGNOS in europe, MSAS (multi-functional transportation Satellite enhanced System) in japan, and the like.
Referring to fig. 2, fig. 2 is a flowchart illustrating a vehicle cruise control method according to an embodiment of the present invention, where the method may be applied to the vehicle-mounted control device in fig. 1, and in particular, may be applied to a processor in the vehicle-mounted control device, and the method may include the following steps:
and S110, when the vehicle is in the automatic cruise mode, acquiring a speed limit area in the driving direction of the vehicle.
In some embodiments, when the vehicle is in the automatic cruise mode, the processor may obtain a speed limit area of the vehicle in the driving direction in real time through the navigation and positioning module, specifically, the navigation and positioning module may detect the current position of the vehicle in real time, and may determine a driving route of the vehicle in the navigation map according to the current position of the vehicle and a variation trend of the current position, where the driving route and the speed limit area on the driving route may be calibrated in the navigation map in advance, and thus, the navigation and positioning module may feedback information of the speed limit area set in the driving direction of the vehicle to the processor.
Optionally, the processor may obtain, through the navigation and positioning module, speed limit areas of the vehicle within a specified range, where the number of the speed limit areas of the specified area may be one or more, for example, the specified range may be a circular area with the current position of the vehicle as a center of a circle and a radius of 10 kilometers. Alternatively, when the vehicle detects a speed limit zone with a specified range, the first detected speed limit zone may be determined as the current speed limit zone. Alternatively, when the number of speed limit regions in the designated region is changed from one to a plurality during the traveling of the vehicle, the speed limit region closest to the vehicle in the traveling direction of the vehicle may be selected as the current speed limit region. For example, if there is a first speed limit region 5 km ahead of the vehicle, and there is a second speed limit region 10 km ahead of the vehicle, the first speed limit region may be regarded as the current speed limit region. Optionally, when the vehicle passes through the first speed-limiting area, the second speed-limiting area can be automatically used as the current speed-limiting area, so that the obtaining efficiency of the vehicle on the speed-limiting area can be effectively improved. Alternatively, when the vehicle turns to switch from one road to another, the vehicle may automatically determine the speed limit area closest to the front of the vehicle on the switched road as the current speed limit area.
Alternatively, the speed-limited area includes, but is not limited to, tunnels, intersections, speed-limited nodes, and the like.
And S120, acquiring a speed limit value corresponding to the speed limit area and the current speed of the vehicle.
The speed limit values corresponding to the speed limit areas can be pre-calibrated in the navigation map, namely each speed limit area can be correspondingly associated with one speed limit value, so that the speed limit areas are determined, and meanwhile, the processor of the vehicle can also obtain the speed limit values corresponding to the speed limit areas through the navigation positioning module.
The processor can acquire the current wheel speed of the vehicle through the wheel speed sensor and then calculate the current vehicle speed of the vehicle according to the current wheel speed.
And S130, when the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area.
In some embodiments, when the current vehicle speed of the vehicle exceeds the speed limit value corresponding to the speed limit area, the processor may obtain the current distance between the vehicle and the speed limit area through the navigation positioning module, and specifically, may obtain the current position of the vehicle, the position of the speed limit area, and the driving road of the vehicle through the navigation positioning module, and then determine the length from the current position of the vehicle in the driving road to the position of the speed limit area, and use the length as the current distance.
And S140, when the current distance meets the preset condition, regulating the speed of the vehicle to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area, and controlling the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area.
In some embodiments, if the current distance is equal to the designated distance, it may be determined that the current distance satisfies a preset condition, for example, the designated distance is 500 meters, and when the current distance between the vehicle and the speed limit area is 500 meters, it may be determined that the current distance satisfies the preset condition, and the controller may control the vehicle to decelerate such that the vehicle speed in the speed limit area does not exceed the speed limit value. Therefore, the speed of the vehicle can be reduced at a safe and proper distance to meet the speed required by the speed-limiting area, the condition that the speed is reduced too early to reduce the passing efficiency of the vehicle is avoided, and the condition that the speed is reduced too late to cause overspeed violation and even traffic accidents is avoided.
As a mode, the user can set the specified distance in a user-defined mode according to the requirements and the favorite habits of the user, and therefore the driving experience of the user can be improved.
Alternatively, the specified distance may be determined based on the current speed of the vehicle and the speed limit value of the speed limit area, and specifically, a difference between the current speed and the speed limit value may be calculated to set the specified distance based on the difference, and the set specified distance is larger when the difference is larger.
As an example, a mapping relationship table of a difference between a current speed and a speed limit value (hereinafter, referred to as a speed difference) and a specified distance may be established in advance, where the mapping relationship table may be obtained by establishing a one-to-one mapping relationship between a plurality of speed differences and a plurality of specified distances, and then finding the specified distance corresponding to the speed difference according to the speed difference and the mapping relationship table. As an example, as shown in table 1:
TABLE 1
| Speed difference (km/h) | Specified distance (km) |
| Vd1 | L1 |
| Vd2 | L2 |
| Vd3 | L3 |
As can be seen from table 1, when the speed difference is Vd1, the corresponding designated distance is L1 can be found from table 2. By analogy, the corresponding specified distance can be quickly and effectively found according to the speed difference value by the mode of the lookup table 2. Alternatively, in table 2, Vd1 > Vd2 > Vd3, L1 > L2 > L3.
Optionally, the mapping relationship table may be stored locally in the vehicle-mounted control device, specifically in a memory of the vehicle-mounted control device, so as to facilitate direct invoking by the processor. The vehicle-mounted control device can also be stored in a cloud server in communication connection with the vehicle-mounted control device, and when the vehicle-mounted control device needs to be used, the vehicle-mounted control device can obtain the data from the cloud server through the wireless communication module.
As another example, the designated distance may vary as the speed difference varies, specifically, the designated distance and the speed difference are positively correlated, e.g., every 5% increase in the speed difference, 500 meters increase in the designated distance, and every 5% decrease in the speed difference, 500 meters decrease in the designated distance. By analogy, the method can accurately calculate the designated distance corresponding to the speed difference.
Considering that the larger the difference value between the current speed and the speed limit value is, the larger the speed required to be reduced by the vehicle is, the longer the distance is required to reduce the speed, so as to avoid the influence on the stability of the vehicle in the driving process due to the large-scale speed reduction in a short distance, and further improve the driving experience of a user.
In some embodiments, when a vehicle passes through a speed-limiting area, if a congested road section exists in the speed-limiting area, the vehicle can use a higher speed for passing through a road section except the congested road section in the speed-limiting area, and use a lower speed for passing through the congested road section, and the average speed of the vehicle passing through the speed-limiting area is enabled not to exceed a speed-limiting value, so that the passing efficiency of the vehicle in the speed-limiting area can be improved under the condition of ensuring safety.
Optionally, when the vehicle is used for adjusting the driving speed, a uniform speed adjustment mode can be adopted to improve the driving stability of the vehicle, so that the driving comfort of a user is improved.
It can be seen that, in the present embodiment, when the vehicle is in the automatic cruise mode, the speed limit area in the driving direction of the vehicle is obtained, and the speed limit value corresponding to the speed limit area and the current vehicle speed of the vehicle are obtained. And if the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area. And if the current distance meets the preset condition, regulating the speed of the vehicle so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area. The speed limiting area in the driving direction and the speed limiting value of the speed limiting area can be obtained during the driving process of the vehicle, and the vehicle speed is automatically adjusted at a proper position away from the speed limiting area according to the speed limiting value of the speed limiting area and the current speed, so that the speed limiting area can be detected in advance, and the vehicle speed is automatically reduced to be lower than the speed limiting value when entering the speed limiting area, thereby effectively avoiding the occurrence of overspeed violation and traffic accidents, and also avoiding the problem that the operation smoothness of a cruise control system is influenced due to the intervention of a driver. And the vehicle starts to decelerate from a proper distance away from the speed-limiting area, so that the condition that the passing efficiency of the vehicle is reduced due to early deceleration is avoided, and overspeed violation and even traffic accidents caused by too-late deceleration are also avoided. In addition, the vehicle can adopt the appropriate speed to travel according to different road conditions in the speed-limiting area, so that the flexibility of speed control and the vehicle passing efficiency are improved, and further the user experience is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a vehicle cruise control method according to another embodiment of the present invention, where the method may be applied to a vehicle, and the method may include the following steps:
s210, when the vehicle is in the automatic cruise mode, acquiring a speed limit area in the driving direction of the vehicle.
And S220, acquiring a speed limit value corresponding to the speed limit area and the current speed of the vehicle.
And S230, when the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area.
S240, when the current distance meets the preset condition, the speed of the vehicle is adjusted so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area, and the average speed of the vehicle when the vehicle passes through the speed limit area is controlled not to exceed the speed limit value.
The specific implementation of S210 to S240 can refer to S110 to S140, and therefore, is not described herein.
And S250, acquiring congestion road section information of the speed limit area when the vehicle enters the speed limit area.
In some embodiments, the vehicle may detect whether the vehicle enters the speed limit area through the navigation positioning module, and when the vehicle is detected to enter the speed limit area, the processor of the vehicle-mounted control device may acquire information of a congested road segment related to the speed limit area from the traffic information server through the wireless communication module.
The congestion road information can be detected by a congestion condition detection device which is arranged in a speed-limiting area by a traffic service system comprising a traffic information server, then the congestion road information is uploaded to a traffic information server by the congestion condition detection device, and then the congestion road information is broadcasted to each vehicle by the traffic information server. The congestion link information may include information such as a location (e.g., location coordinates) of a congestion link, a congestion level of the congestion link, and a congestion cause, where the congestion level may be determined according to the number of vehicles.
And S260, adjusting the speed of the vehicle based on the congestion road section information.
In some embodiments, as shown in fig. 4, S260 may include the steps of:
and S261A, dividing the speed limit area into a congested road section and an unobstructed road section according to the congested road section information.
In some real-time manners, the speed limit area may be divided into congested road segments and clear road segments according to the congested road segment coordinates in the congested road segment information, for example, as shown in fig. 5, a start point coordinate a1 and an end point coordinate a2 of the congested road segments may be acquired, then a road segment between the start point coordinate a1 and the end point coordinate a2 in the speed limit area may be determined as a congested road segment a, and a road segment other than the start point coordinate a1 and the end point coordinate a2 in the speed limit area may be determined as a clear road segment B.
And S262A, when the vehicle enters the congested road section, regulating the vehicle speed of the vehicle to be below a vehicle speed threshold value, wherein the vehicle speed threshold value is less than or equal to the speed limit value.
In some embodiments, the vehicle speed threshold may be determined according to the speed limit, and optionally, the vehicle speed threshold may be the product of the speed limit and a preset proportion. As an example, when the preset proportion is 50%, for example, if the speed limit value of the speed limit area is 80km/h, the vehicle speed threshold value is 40 km/h. For example, if the speed limit value of the speed limit area is 60km/h, the vehicle speed threshold value is 30 km/h. Alternatively, the vehicle speed threshold may be equal to the speed limit value, for example, if the speed limit value of the speed limit area is 80km/h, the vehicle speed threshold is 80 km/h. Different speed limit areas correspond to different speed limit values, so that different speed limit areas correspond to different vehicle speed thresholds.
After the vehicle speed threshold value is determined, the vehicle-mounted control device can control the vehicle to reduce the congestion below the vehicle speed threshold value, for example, when the vehicle speed threshold value is 40km/h, the vehicle can adjust the vehicle speed to be below 40km/h, for example, 40km/h, even 0km/h after entering the congested road section, so as to ensure the safety of the vehicle when passing through the congested area. When the vehicle just enters the congested road section, if the vehicle speed does not exceed the vehicle speed threshold value, the vehicle speed can be not adjusted.
S263A, when the vehicle enters the clear section, adjusting the vehicle speed of the vehicle to be above the vehicle speed threshold.
As an example, when the vehicle speed threshold is 40km/h, for example, the vehicle speed is adjusted to be above 40km/h, for example 80km/h, after entering the unobstructed road section, so as to ensure the passing efficiency of the vehicle when passing through the unobstructed area. When the vehicle just enters the unobstructed road section, if the vehicle speed exceeds the vehicle speed threshold value, the vehicle speed can be adjusted without.
As another example, assuming that the speed limit value of the speed limit area is 80km/h, the vehicle speed threshold value is 80km/h, the speed of the vehicle passing through the congested road section is 10km/h, the length of the congested road section is 2km, and the length of the open road section is 6km, the vehicle speed of the vehicle passing through the open road section can be adjusted to 100 km/h. The average speed of the vehicle passing through the speed-limited area is not more than 80 km/h. Thereby further improving the passing efficiency of the vehicle passing through the speed-limiting area.
Alternatively, the vehicle speed threshold value may include a first vehicle speed threshold value and a second vehicle speed threshold value, wherein when the vehicle passes through the speed limit area, the vehicle speed of the vehicle passing through the unobstructed road section > the first vehicle speed threshold value > the second vehicle speed threshold value > the vehicle speed of the vehicle passing through the congested road section.
In the embodiment, the speed limit area is divided into the congested road section and the unobstructed road section according to the congested road section information, when a vehicle enters the congested road section, the speed of the vehicle is adjusted to be below the speed threshold, wherein the speed threshold is smaller than or equal to the speed limit value, and when the vehicle enters the unobstructed road section, the speed of the vehicle is adjusted to be above the speed threshold, so that different speeds can be adopted for the congested road section and the unobstructed road section to drive, the speed can be accurately adjusted according to the speed threshold, and the passing efficiency of the vehicle passing through the speed limit area is improved while the driving safety of the vehicle is ensured.
In other embodiments, as shown in fig. 6, S260 may include the steps of:
and S261B, dividing the speed limit area into a congested road section and an unobstructed road section according to the congested road section information.
The specific implementation of S261B can refer to S261A, and therefore is not described herein.
And S262B, acquiring a first speed corresponding to the congested road section and a second speed corresponding to the unobstructed road section, wherein the first speed is lower than the second speed, the first speed is positively correlated with the length of the congested road section, and the second speed is positively correlated with the length of the unobstructed road section.
In some embodiments, the processor may obtain the length of the congested road segment by the navigation positioning module to obtain a first length, and obtain the length of the unobstructed road segment to obtain a second length. A first speed is determined according to the first length, and a second speed is determined according to the second length.
Alternatively, when determining the first speed according to the first length, the first speed may be determined by querying a first speed relationship table, where the first speed relationship table may be obtained by establishing a one-to-one correspondence relationship between a plurality of speeds and a plurality of lengths, as an example, as shown in table 2:
TABLE 2
As can be seen from table 2, when the first length is a2, the corresponding first speed is Va2 km/h can be found from table 2. By analogy, the corresponding first speed can be quickly and effectively found according to the first length by looking up the table 2. Wherein Al1 is more than Al2 is more than Al3, and Va1 is more than Va2 is more than Va 3.
Alternatively, when determining the second speed according to the second length, the second speed may be determined by querying a second speed relationship table, where the second speed relationship table may be obtained by establishing a one-to-one correspondence relationship according to a plurality of speeds and a plurality of lengths, as an example, as shown in table 3:
TABLE 3
| Length (Km) | Speed (km/h) |
| Bl1 | Vb1 |
| Bl2 | Vb2 |
| Bl3 | Vb3 |
As can be seen from table 3, when the second length is a2, the corresponding second speed is Va2 km/h can be found from table 3. By analogy, the corresponding second speed can be quickly and effectively found according to the second length by looking up the table 3. Wherein Bl1 is more than Bl2 is more than Bl3, and Vb1 is more than Vb2 is more than Vb3 is more than Va 3.
S263B, when the vehicle enters the congested road segment, adjusting the vehicle speed of the vehicle to a first speed.
When the vehicle is detected to enter the congested road section through the navigation positioning module, the speed of the vehicle can be adjusted to a first speed.
And S264B, when the vehicle enters the open road section, adjusting the vehicle speed of the vehicle to a second speed.
When the vehicle detects that the vehicle enters the congested road section through the navigation and positioning module, the speed of the vehicle can be adjusted to a second speed.
In some embodiments, when the speed-limited area includes a plurality of congested road segments or includes a plurality of unobstructed road segments, the traveling speed of the corresponding congested road segment may be determined according to the length of each congested road segment, and the traveling speed of the corresponding unobstructed road segment may be determined according to the length of each unobstructed road segment, as shown in fig. 7, in the speed-limited area, congested road segments a1 and a2, normal areas B1 and B2 may be included, wherein the length of congested road segment a1 may be first length Al1, the length of unobstructed area B1 may be second length Bl1, the length of congested road segment A3 may be third length Al2, and the length of unobstructed area B2 may be fourth length Bl2, by querying table 1 and table 2, the congested speed corresponding to unobstructed area a1 may be Va1 km/h, the speed corresponding to unobstructed area B1 may be Vb1 km/h, and the speed corresponding to congested area A3 may be Va 2/km, the speed corresponding to the unobstructed area B2 was Vb2 km/h.
Considering that the longer the road section is, the more stable the speed of the vehicle running on the road section is, the less frequent the speed change is, the shorter the road section is, the more possible the vehicle speed needs to be changed, in the embodiment, the speed limit area is divided into the congested road section and the unobstructed road section according to the information of the congested road section, the first speed corresponding to the congested road section and the second speed corresponding to the unobstructed road section are obtained, the first speed is smaller than the second speed, the first speed is positively correlated with the length of the congested road section, the second speed is positively correlated with the length of the unobstructed road section, when the vehicle enters the congested road section, the vehicle speed of the vehicle is adjusted to the first speed, and when the vehicle enters the unobstructed road section, the vehicle speed of the vehicle is adjusted to the second speed. Therefore, the vehicle can be kept to run at a higher speed in a longer road section so as to improve the passing efficiency, and the vehicle can run at a lower speed in a shorter road section so as to be convenient to change the speed of the vehicle so as to enter the next road section.
In the embodiment, when the vehicle enters the speed-limiting area, the congestion section information of the speed-limiting area is obtained, and the vehicle speed of the vehicle is adjusted based on the congestion section information. Therefore, the vehicle can run at different speeds under different road conditions according to the information of the congested road sections, the vehicle passing efficiency is improved, and the driving experience of a user is also improved.
Referring to fig. 8, fig. 8 is a flowchart illustrating a vehicle cruise control method according to an embodiment of the present invention, where the method may be applied to a vehicle control system, and may specifically be applied to a processor of the vehicle control system, and the method may include the following steps:
s310, when the vehicle is in the automatic cruise mode, acquiring a speed limit area in the driving direction of the vehicle.
In some embodiments, the S310 specific embodiments may be: when the vehicle sets a navigation route, the current position of the vehicle and map information are obtained, wherein the map information comprises the position of at least one speed limiting area. And acquiring a speed limit area of the vehicle on the driving road based on the map information, the current position and the navigation route.
The navigation route can be set by a user in a self-defined mode, specifically, the user can input a starting point and an end point of vehicle driving through an input module configured by the vehicle-mounted control device, and the vehicle-mounted control device can automatically generate the navigation route according to the starting point and the end point. Alternatively, the input module includes, but is not limited to, a voice input module, a touch screen, a key input module, and the like. The current position and the map information of the vehicle can be acquired by a navigation positioning module of the vehicle-mounted control device.
When the navigation route is set, the navigation positioning module can search the speed limit area on the navigation route in the vehicle driving direction according to the current position and the map information, so that the speed limit area can be quickly and effectively acquired under the condition that the navigation route is set.
In other embodiments, the specific implementation manner of S310 may be: when the vehicle does not set a navigation route, the current position, the driving direction and the map information of the vehicle are obtained, wherein the map information comprises the position of at least one speed limiting area. And acquiring a speed limit area of the vehicle on the driving road based on the current position, the driving direction and the map information.
The vehicle-mounted control device can predict the driving route of the vehicle according to the current position, the driving direction and the map information. After the driving route is determined, the navigation positioning module can search the speed-limiting area on the driving route in the driving direction of the vehicle according to the current position and the map information, so that the speed-limiting area can be accurately and effectively obtained under the condition that the navigation route is not set.
And S320, acquiring a speed limit value corresponding to the speed limit area and the current speed of the vehicle.
And S330, acquiring the current distance between the vehicle and the speed limit area when the current vehicle speed exceeds the speed limit value.
The specific implementation of S320 to S330 can refer to S120 to S130, and therefore, is not described herein.
And S340, acquiring the target acceleration.
In some embodiments, the user may input the target acceleration through the input module, thereby setting the target acceleration by himself. Wherein the target acceleration is a negative number.
And S350, determining a target distance based on the target acceleration, the speed limit value and the current speed.
As an example, the time from the current speed to the speed limit may be calculated according to the target acceleration, and then the time may be multiplied by one half of the sum of the current speed and the speed limit to obtain the target distance.
And S360, when the current distance is equal to the target distance, determining that the current distance meets a preset condition.
The vehicle can detect the current distance between the vehicle and the speed-limiting area in real time through the navigation positioning module, and if the current distance is equal to the target distance, the current distance is determined to meet the preset condition.
And S370, when the current distance meets the preset condition, regulating the speed of the vehicle to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area, and controlling the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area.
The specific implementation of S370 may refer to S140, and therefore is not described herein.
In some embodiments, when the vehicle leaves the restricted speed zone, it may be accelerated linearly to return to the speed of the vehicle before entering the restricted speed zone.
In the embodiment, the target acceleration is obtained, the target distance is determined based on the target acceleration, the speed limit value and the current speed, and when the current distance is equal to the target distance, the current distance is determined to meet the preset condition, so that the target distance can be adjusted according to the self-set acceleration, the operation feeling of a driver on a vehicle is improved, and the user experience is improved.
Referring to fig. 9, which shows a vehicle cruise control apparatus according to an embodiment of the present invention, the vehicle cruise control apparatus 400 includes: a speed limit area obtaining module 410, a speed limit value and current vehicle speed obtaining module 420, a current distance obtaining module 430 and a control module 440. Wherein:
the speed limit area acquiring module 410 is configured to acquire a speed limit area in a driving direction of the vehicle when the vehicle is in the auto cruise mode.
And the speed limit value and current vehicle speed obtaining module 420 is used for obtaining the speed limit value corresponding to the speed limit area and the current vehicle speed of the vehicle.
And the current distance obtaining module 430 is configured to obtain a current distance between the vehicle and the speed limit area when the current vehicle speed exceeds the speed limit value.
The control module 440 is configured to adjust the vehicle speed when the current distance meets a preset condition, so as to control the vehicle speed when the vehicle enters the speed limit area not to exceed the speed limit value, and control the average speed when the vehicle passes through the speed limit area not to exceed the speed limit value.
Further, the vehicle cruise control apparatus 400 further includes:
and the congestion road section information acquisition module is used for acquiring congestion road section information of the speed-limiting area when the vehicle enters the speed-limiting area.
And the vehicle speed adjusting module is used for adjusting the vehicle speed of the vehicle based on the congestion road section information.
Further, the vehicle speed adjustment module includes:
and the road section dividing unit is used for dividing the speed limit area into a congested road section and an unobstructed road section according to the congested road section information.
The first adjusting unit is used for adjusting the speed of the vehicle to be below a speed threshold value when the vehicle enters the congested road section, wherein the speed threshold value is smaller than or equal to the speed limit value.
And the second adjusting unit is used for adjusting the speed of the vehicle to be above the speed threshold when the vehicle enters the unobstructed road section.
Further, the vehicle speed adjustment module includes:
and the road section dividing unit is used for dividing the speed limit area into a congested road section and an unobstructed road section according to the congested road section information.
The vehicle speed obtaining unit is used for obtaining a first speed corresponding to the congested road section and a second speed corresponding to the unobstructed road section, wherein the first speed is smaller than the second speed, the first speed is positively correlated with the length of the congested road section, and the second speed is positively correlated with the length of the unobstructed road section.
And a third adjusting unit for adjusting the vehicle speed of the vehicle to the first speed when the vehicle enters the congested road section.
And the fourth adjusting unit is used for adjusting the speed of the vehicle to the second speed when the vehicle enters the unobstructed road section.
Further, the vehicle cruise control apparatus 400 further includes:
and the target acceleration acquisition module is used for acquiring the target acceleration.
And the target distance determining module is used for determining the target distance based on the target acceleration, the speed limit value and the current speed.
And the determining module is used for determining that the current distance meets the preset condition when the current distance is equal to the target distance.
Further, the speed-limit area obtaining module 410 includes:
the first information acquisition unit is used for acquiring the navigation route, the current position of the vehicle and map information when the vehicle sets the navigation route, wherein the map information comprises the position of at least one speed limiting area.
And the first speed-limiting area acquisition unit is used for acquiring the speed-limiting area of the vehicle on the driving road based on the map information, the current position and the navigation route.
Further, the speed-limit area obtaining module 410 includes:
and the second information acquisition unit is used for acquiring the current position, the driving direction and the map information of the vehicle when the navigation route is not set by the vehicle, wherein the map information comprises the position of at least one speed limit area.
And the second speed-limiting area acquisition unit is used for acquiring the speed-limiting area of the vehicle on the driving road based on the current position, the driving direction and the map information.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments of the present invention, the coupling or direct coupling or communication connection between the modules shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be in an electrical, mechanical or other form.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
Referring to fig. 10, a block diagram of a vehicle according to an embodiment of the invention is shown. The vehicle 500 may be the vehicle 500 capable of running the program in the foregoing embodiment. The vehicle 500 of the present invention may include one or more of the following components: a processor 510, a memory 520, and one or more programs, wherein the one or more programs may be stored in the memory 520 and configured to be executed by the one or more processors 510, the one or more programs configured to perform a method as described in the aforementioned method embodiments.
Processor 510 may include one or more processing cores. The processor 510 interfaces with various components throughout the vehicle using various interfaces and lines to perform various functions of the vehicle and to process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 520 and invoking data stored in the memory 520. Alternatively, the processor 510 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 510 may integrate one or a combination of a Central Processing Unit (CPU) 510, a Graphics Processing Unit (GPU) 510, a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 510, but may be implemented by a communication chip.
Processor 510 may be, among other things, a processor in the onboard control module of FIG. 1.
The Memory 520 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 520 may be used to store instructions, programs, code sets, or instruction sets. The memory 520 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc., a photographing function), instructions for implementing various method embodiments described below, and the like. The storage data area may also store data created by the terminal in use, such as a phone book, audio-video data, map data, driving record data, and the like.
Processor 520 may be, among other things, a memory in the onboard control module of FIG. 1.
Referring to fig. 11, a block diagram of a computer-readable storage medium according to an embodiment of the present invention is shown. The computer readable medium 600 has stored therein a program code 610, the program code 610 being capable of being invoked by a processor to perform the method described in the method embodiments above.
The computer-readable storage medium 600 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has a storage space for program code for performing any of the method steps of the above-described method. The program code can be read from or written to one or more computer program products. The program code may be compressed, for example, in a suitable form.
In summary, the vehicle cruise control method, the device, the vehicle and the storage medium provided by the embodiments of the present invention acquire the speed limit area in the driving direction of the vehicle when the vehicle is in the auto cruise mode, and acquire the speed limit value corresponding to the speed limit area and the current speed of the vehicle. And if the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area. And if the current distance meets the preset condition, regulating the speed of the vehicle so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area. The speed limiting area in the driving direction and the speed limiting value of the speed limiting area can be obtained during the driving process of the vehicle, and the vehicle speed is automatically adjusted at a proper position away from the speed limiting area according to the speed limiting value of the speed limiting area and the current speed, so that the speed limiting area can be detected in advance, and the vehicle speed is automatically reduced to be lower than the speed limiting value when entering the speed limiting area, thereby effectively avoiding the occurrence of overspeed violation and traffic accidents, and also avoiding the problem that the operation smoothness of a cruise control system is influenced due to the intervention of a driver. And the vehicle starts to decelerate from a proper distance away from the speed-limiting area, so that the condition that the passing efficiency of the vehicle is reduced due to early deceleration is avoided, and overspeed violation and even traffic accidents caused by too-late deceleration are also avoided. In addition, the vehicle can adopt the appropriate speed to travel according to different road conditions in the speed-limiting area, so that the flexibility of speed control and the vehicle passing efficiency are improved, and further the user experience is improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A vehicle cruise control method, characterized by comprising:
when a vehicle is in an automatic cruise mode, acquiring a speed limit area in the driving direction of the vehicle;
acquiring a speed limit value corresponding to the speed limit area and the current speed of the vehicle;
when the current vehicle speed exceeds the speed limit value, acquiring the current distance between the vehicle and the speed limit area;
when the current distance meets a preset condition, the speed of the vehicle is adjusted so as to control the speed of the vehicle not to exceed the speed limit value when the vehicle enters the speed limit area, and control the average speed of the vehicle not to exceed the speed limit value when the vehicle passes through the speed limit area.
2. The method according to claim 1, wherein after the adjusting the vehicle speed of the vehicle when the current distance meets a preset condition so as to control the vehicle speed of the vehicle when entering the speed limit area not to exceed the speed limit value and control the average speed of the vehicle when passing through the speed limit area not to exceed the speed limit value, the method further comprises:
when the vehicle enters the speed-limiting area, obtaining congestion road section information of the speed-limiting area;
and adjusting the speed of the vehicle based on the congestion road section information.
3. The method of claim 2, wherein the adjusting the vehicle speed of the vehicle based on the congested link information comprises:
dividing the speed limit area into a congested road section and an unobstructed road section according to the congested road section information;
when the vehicle enters the congested road section, regulating the speed of the vehicle to be below a speed threshold, wherein the speed threshold is less than or equal to the speed limit value;
and when the vehicle enters the unobstructed road section, adjusting the speed of the vehicle to be above the speed threshold.
4. The method of claim 2, wherein the adjusting the vehicle speed of the vehicle based on the congested link information comprises:
Dividing the speed limit area into a congested road section and an unobstructed road section according to the congested road section information;
acquiring a first speed corresponding to the congested road section and a second speed corresponding to the unobstructed road section, wherein the first speed is lower than the second speed, the first speed is positively correlated with the length of the congested road section, and the second speed is positively correlated with the length of the unobstructed road section;
adjusting a speed of the vehicle to the first speed when the vehicle enters the congested road segment;
when the vehicle enters the unobstructed road section, adjusting the speed of the vehicle to the second speed.
5. The method according to claim 1, wherein before the adjusting the vehicle speed of the vehicle when the current distance meets a preset condition so as to control the vehicle speed of the vehicle when entering the speed limit area not to exceed the speed limit value and control the average speed of the vehicle when passing through the speed limit area not to exceed the speed limit value, the method further comprises:
acquiring a target acceleration;
determining a target distance based on the target acceleration, the speed limit value and the current speed;
and when the current distance is equal to the target distance, determining that the current distance meets a preset condition.
6. The method according to any one of claims 1 to 5, wherein the acquiring of the speed limit region in the traveling direction of the vehicle includes:
when a navigation route is set by the vehicle, acquiring the navigation route, the current position of the vehicle and map information, wherein the map information comprises the position of at least one speed-limiting area;
and acquiring a speed limit area of the vehicle on a driving road based on the map information, the current position and the navigation route.
7. The method according to any one of claims 1 to 5, wherein the acquiring of the speed limit region in the traveling direction of the vehicle includes:
when the vehicle is not provided with a navigation route, acquiring the current position, the driving direction and map information of the vehicle, wherein the map information comprises the position of at least one speed-limiting area;
and acquiring a speed limit area of the vehicle on a driving road based on the current position, the driving direction and the map information.
8. A vehicle cruise control apparatus, characterized by comprising:
the speed-limiting area acquisition module is used for acquiring a speed-limiting area in the driving direction of the vehicle when the vehicle is in an automatic cruise mode;
The speed limit value and current vehicle speed acquisition module is used for acquiring a speed limit value corresponding to the speed limit area and the current vehicle speed of the vehicle;
the current distance acquisition module is used for acquiring the current distance between the vehicle and the speed limit area when the current vehicle speed exceeds the speed limit value;
and the control module is used for adjusting the speed of the vehicle when the current distance meets a preset condition so as to control the speed of the vehicle when the vehicle enters the speed limit area not to exceed the speed limit value and control the average speed of the vehicle when the vehicle passes through the speed limit area not to exceed the speed limit value.
9. A vehicle, characterized by comprising:
one or more processors;
a memory;
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-7.
10. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 7.
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Effective date of registration: 20240227 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 0811 and 0812, north wing of Fumin Building, No.18 Beijiang Avenue, high tech Zone, Zhaoqing City, Guangdong Province, 526238 Patentee before: ZHAOQING XIAOPENG AUTOMOBILE Co.,Ltd. Country or region before: China |