CN111891122B - Speed limiting method and device based on vehicle position and vehicle - Google Patents
Speed limiting method and device based on vehicle position and vehicle Download PDFInfo
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Abstract
The application relates to a speed limiting method based on vehicle positions, which comprises the following steps: acquiring the current geographic position of the vehicle; when the vehicle is in a preset geographical position, detecting the distance between the vehicle and surrounding obstacles in real time; and generating and executing a control strategy of the vehicle speed according to the distance between the vehicle and the surrounding obstacles. The application also relates to a speed limiting device based on the vehicle position and a vehicle. According to the speed limiting method and device based on the vehicle position and the vehicle, when the vehicle is located at the preset geographic position, the distance between the vehicle and other vehicles or obstacles can be detected in real time, a control strategy for the vehicle speed is generated according to the distance between the vehicle and surrounding obstacles, the problem that nearby obstacles or vehicles are collided is avoided, and good user experience is brought.
Description
Technical Field
The application relates to the technical field of vehicle driving, in particular to a speed limiting method and device based on vehicle position and a vehicle.
Background
With the increasing living standard of people, automobiles become indispensable transportation tools for daily trips of people. At present, for some drivers and novices, the driver is very painful when parking, and because the distance between the vehicle and an obstacle and the speed of the vehicle are not easy to grasp, the continuous collision accidents during parking often occur, and great economic loss is caused. Meanwhile, when the driver is in overstrain or mental fatigue, the driver is easy to step on the accelerator by mistake to cause overspeed, and for the driver, rear-end collision accidents are easy to cause due to overspeed of the vehicle, so that the potential safety hazards of driving exist.
In view of the above, it is urgent to improve the driving safety in parking.
Disclosure of Invention
The purpose of the application is to provide a speed limiting method and device based on vehicle position and a vehicle, which can detect the distance between the vehicle and other vehicles or obstacles in real time when the vehicle is in a preset geographic position, generate a control strategy for the vehicle speed according to the distance between the vehicle and surrounding obstacles, avoid the problem of collision to nearby obstacles or vehicles, and bring good user experience.
In order to solve the technical problem, the application provides a speed limiting method based on vehicle position, which comprises the following steps: acquiring the current geographic position of the vehicle; when the vehicle is in a preset geographical position, detecting the distance between the vehicle and surrounding obstacles in real time; and generating and executing a control strategy of the vehicle speed according to the distance between the vehicle and the surrounding obstacles.
In one embodiment, the step of detecting the distance between the vehicle and the surrounding obstacle in real time comprises: detecting a state of a gear of a vehicle; when the vehicle is in a forward gear, detecting the distance between the vehicle and a front obstacle; when the vehicle is in a reverse gear, the distance between the vehicle and a rear obstacle is detected.
In one embodiment, the step of generating a control strategy for the vehicle speed according to the distance between the vehicle and the surrounding obstacles specifically comprises: when the distance is equal to the first distance threshold value, controlling the vehicle to enter a speed limiting mode, and limiting the highest vehicle speed at a preset value; when the distance is equal to a second distance threshold value, controlling the vehicle to stop, wherein the second distance threshold value is smaller than the first distance threshold value; when the distance is between the first distance threshold and the second distance threshold, the maximum vehicle speed at which the vehicle is controlled to travel decreases with decreasing distance.
In one embodiment, when the distance is equal to the first distance threshold, the vehicle is controlled to enter a speed limit mode, and the step of limiting the maximum vehicle speed to a preset value comprises: when the distance is larger than a first distance threshold, acquiring a distance difference value between the distance between the vehicle and the surrounding obstacles and the first distance threshold; detecting the current speed of the vehicle, and comparing the current speed with a preset value; if the current vehicle speed is less than or equal to the preset value, keeping the current vehicle speed for driving; if the current speed is greater than the limit value, the braking force of the vehicle is calculated according to the distance difference value, the current speed and the preset value, so that the current speed is reduced to the preset value within the range of the running distance difference value for running.
In one embodiment, when the distance is between the first distance threshold and the second distance threshold, the step of controlling the maximum vehicle speed at which the vehicle is travelling to decrease with decreasing distance comprises: when the distance is between a first distance threshold and a second distance threshold, calculating the corresponding highest vehicle speed at different distances according to the condition that S is (H-M)/K, wherein S is the highest vehicle speed, H is the distance, M is the second distance threshold, K is a constant, and S is reduced along with the reduction of H.
In one embodiment, the method for limiting the speed based on the vehicle position further includes: and when the distance is smaller than the second distance threshold value, the vehicle still runs, shooting a panoramic image of the vehicle, and storing the shot panoramic image and current vehicle condition information, wherein the vehicle condition information comprises at least one of the current vehicle speed and the rotation angle signal.
In order to solve the technical problem, the application also provides a speed limiting device based on the vehicle position, which comprises a memory and a processor, wherein the memory is used for storing an executable computer program; the processor is used for calling the executable computer program stored in the memory and executing the following steps: acquiring the current geographic position of the vehicle; when the vehicle is in a preset geographical position, detecting the distance between the vehicle and surrounding obstacles in real time; and generating a control strategy for the vehicle speed according to the distance between the vehicle and the surrounding obstacles.
In one embodiment, the speed limiting device based on the vehicle position is provided with a gear detection module and a distance detection module, wherein the gear detection module is used for detecting the state of the gear of the vehicle; the distance detection module is used for measuring the distance between the vehicle and an obstacle in the gear direction according to the current gear state of the vehicle.
In one embodiment, the gear state of the vehicle includes a forward gear and a reverse gear; when the vehicle is in a forward gear, the distance detection module detects the distance between the vehicle and a front obstacle; when the vehicle is in a reverse gear, the distance detection module detects the distance between the vehicle and a rear obstacle.
In view of the above technical problems, the present application also provides a vehicle equipped with a speed limiter based on a vehicle position as described above.
According to the speed limiting method and device based on the vehicle position and the vehicle, when the vehicle is located at the preset geographic position, the distance between the vehicle and other vehicles or obstacles can be detected in real time, a control strategy for the vehicle speed is generated according to the distance between the vehicle and surrounding obstacles, the problem that nearby obstacles or vehicles are collided is avoided, and good user experience is brought.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical means of the present application more clearly understood, the present application may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present application more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
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Fig. 1 is a schematic flowchart of a speed limiting method based on vehicle position according to a first embodiment of the present application.
Fig. 2 is a flowchart illustrating a speed limiting method based on a vehicle position according to a second embodiment of the present application.
Fig. 3 is a schematic structural view of a vehicle position-based speed limiter according to a third embodiment of the present application.
Detailed Description
To further clarify the technical measures and effects adopted by the present application to achieve the intended purpose, the following detailed description of the embodiments, methods, steps, features and effects of the present application will be made with reference to the accompanying drawings and preferred embodiments.
The foregoing and other technical matters, features and effects of the present application will be apparent from the following detailed description of preferred embodiments, which is to be read in connection with the accompanying drawings. While the present application has been described in terms of specific embodiments and examples for achieving the desired objects and objectives, it is to be understood that the invention is not limited to the disclosed embodiments, but is to be accorded the widest scope consistent with the principles and novel features as defined by the appended claims.
Fig. 1 is a schematic flowchart of a speed limiting method based on vehicle position according to a first embodiment of the present application. As shown in fig. 1, the speed limiting method based on the vehicle position includes the steps of:
step S11: and acquiring the current geographic position of the vehicle.
Specifically, due to different requirements of different geographic locations on the vehicle speed, for example, when parking in a parking lot, the vehicle needs to run at a low speed, and when a speed-limited road section needs the vehicle speed to be kept below a specified maximum vehicle speed, while on a highway, the vehicle speed is higher. Therefore, different vehicle speed control strategies need to be selected according to different geographical positions of the vehicle. In this embodiment, the current geographic location of the vehicle may be determined, but is not limited to, by GPS location.
Step S12: and when the vehicle is in the preset geographic position, detecting the distance between the vehicle and the surrounding obstacles in real time.
Specifically, the preset geographic location may include, but is not limited to, a parking lot or a speed-limiting road segment, may be a place where speed limitation is required to be automatically generated by the vehicle-mounted device system, and also supports a user to manually set the preset place.
In particular, surrounding obstacles refer to objects appearing around the vehicle and may include, but are not limited to, other vehicles, pedestrians, animals, security fences, and the like.
Specifically, in the present embodiment, the distance between the vehicle and the surrounding obstacle is acquired by radar ranging. In another embodiment, the vehicle-mounted camera may be used to acquire a panoramic image of the surroundings of the vehicle, and the panoramic image may be analyzed to acquire the distance between the vehicle and surrounding obstacles.
Specifically, in the present embodiment, the step of detecting in real time the distance of the vehicle from surrounding obstacles includes detecting the state of a gear of the vehicle; when the vehicle is in a forward gear, detecting the distance between the vehicle and a front obstacle; when the vehicle is in a reverse gear, the distance between the vehicle and a rear obstacle is detected.
Step S13: and generating and executing a control strategy of the vehicle speed according to the distance between the vehicle and the surrounding obstacles.
Specifically, in one embodiment, step S13: the control strategy for generating and executing the vehicle speed according to the distance between the vehicle and the surrounding obstacles comprises the following steps: when the distance between the vehicle and surrounding obstacles is less than or equal to a first distance threshold value, controlling the vehicle to enter a speed limiting mode, and limiting the highest vehicle speed to a preset value; when the distance between the vehicle and the surrounding obstacles is equal to a second distance threshold value, controlling the vehicle to stop, wherein the second distance threshold value is smaller than the first distance threshold value; when the distance of the vehicle from the surrounding obstacle is between a first distance threshold and a second distance threshold, the maximum vehicle speed at which the vehicle is controlled to travel decreases with decreasing distance.
It should be noted that the first distance threshold and the second distance threshold are the maximum safe distance and the minimum safe distance, respectively, and the first distance threshold and the second distance threshold may be distance values automatically generated by the system or manually set by the user.
It should be understood that the user may also manually turn off the speed limit function in order to cope with various situations in daily driving. In one embodiment, a button may be provided to turn on or off the speed limit function according to the number of times the user presses the button, for example, the vehicle defaults to turn on the speed limit function, turns off the speed limit function when the button is pressed for the first time, and turns on the speed limit function again when the button is pressed again. In another embodiment, the speed limit function may also be turned off by inputting a voice command.
The speed limiting method based on the vehicle position can detect the distance between the vehicle and other vehicles or obstacles in real time when the vehicle is in the preset geographic position, and generates a control strategy for the vehicle speed according to the distance between the vehicle and surrounding obstacles, so that the problem of collision to nearby obstacles or vehicles is avoided, and good user experience is brought.
FIG. 2 is a flowchart illustrating a method for limiting speed based on vehicle position according to a second embodiment of the present application. As shown in fig. 2, the speed limiting method based on the vehicle position includes the steps of:
it should be noted that steps S21-S22 are the same as steps S11-S12, and are not repeated herein.
Step S23: and when the distance between the vehicle and surrounding obstacles is equal to a first distance threshold value, controlling the vehicle to enter a speed limiting mode, and limiting the highest vehicle speed at a preset value.
Specifically, in one embodiment, step S23: when the distance is equal to the first distance threshold, controlling the vehicle to enter a speed limit mode, and the step of limiting the maximum vehicle speed to a preset value may include the steps of:
s231: when the distance is greater than a first distance threshold, acquiring a distance difference value between the distance between the vehicle and surrounding obstacles and the first distance threshold;
s232: detecting the current speed of the vehicle, and comparing the current speed with a preset value;
s233: if the current vehicle speed is less than or equal to the limit value, keeping the current vehicle speed for running; and if the current vehicle speed is greater than the limit value, calculating the braking force of the vehicle according to the distance difference, the current vehicle speed and the limit value so that the vehicle can reduce the current vehicle speed to a preset value within the running distance difference to run.
It is worth mentioning that the preset value is a set quantity in the vehicle system, and the set of the preset value is related to the model of the vehicle due to the difference of the braking functions of different vehicles.
It should be understood that when the current vehicle speed is greater than or equal to the limit value, indicating that the vehicle will collide with surrounding obstacles while continuing to travel at the current vehicle speed, the braking force of the vehicle is calculated based on the distance difference, the current vehicle speed and the limit value, so that the vehicle is reduced from the current vehicle speed to the limit value within the distance difference, thereby preventing the vehicle from colliding with the obstacles. When the current speed is less than the limit value, the vehicle can be ensured to run safely when running at the current speed, and the vehicle does not need to be decelerated.
It should be noted that, in an embodiment, when the current vehicle speed is less than the limit value, the vehicle may keep the normal output of the accelerator pedal, and when the current vehicle speed is greater than or equal to the limit value, the vehicle does not respond to the opening of the accelerator pedal, and performs braking control on the vehicle according to the calculated braking force, so as to solve the problem that the driver steps on the accelerator by mistake due to stress, and simultaneously, ensure that the vehicle can reduce the current vehicle speed to the preset value within the running distance difference value.
Step S24: when the distance is between the first distance threshold and the second distance threshold, the maximum vehicle speed at which the vehicle is controlled to travel decreases with decreasing distance.
Specifically, in one embodiment, step S24: when the distance is between the first distance threshold and the second distance threshold, controlling the highest vehicle speed at which the vehicle is traveling to decrease with decreasing distance comprises: when the distance is between a first distance threshold and a second distance threshold, calculating the corresponding highest vehicle speed at different distances according to the condition that S is (H-M)/K, wherein S is the highest vehicle speed, H is the distance, M is the second distance threshold, K is a constant, and S is reduced along with the reduction of H.
Specifically, in the present embodiment, as the vehicle continues to travel, the distance between the vehicle and the obstacle is further reduced, and the maximum vehicle speed at which the vehicle travels is correspondingly reduced, so that the control of the vehicle speed is more accurate. Meanwhile, according to a formula, when the distance between the vehicle and the surrounding obstacles is equal to the second distance threshold value M, the highest vehicle speed is 0, so that the speed limiting method of the embodiment enables the parking process to be more smooth, the sudden stop feeling cannot occur, and the user experience is better through gradual change of the vehicle speed.
Step S25: and controlling the vehicle to stop when the distance is equal to the second distance threshold.
Specifically, the second distance threshold is smaller than the first distance threshold, the second distance threshold is a minimum safe distance, and in order to avoid collision, when the distance between the vehicle and surrounding obstacles is equal to the second distance threshold, the vehicle is controlled to stop.
Specifically, in one embodiment, when the distance is smaller than the second distance threshold value, the vehicle still runs, a panoramic image of the vehicle is shot, and the shot panoramic image and current vehicle condition information are stored, wherein the vehicle condition information comprises at least one of the current vehicle speed and the turning angle signal, so that basis can be provided for responsibility identification and claim settlement when the vehicle collides. In another embodiment, the stored current vehicle condition information may further include damaged condition of each vehicle, orientation of each vehicle after collision, vehicle type, color and license plate of each vehicle in collision.
It is worth mentioning that the saved vehicle condition information can be sent to the mobile terminal associated with the current vehicle, such as a mobile phone, an iPad, etc., through a wireless network, such as a Wi-Fi network, a 3G/4G/5G network, or bluetooth, etc.
According to the speed limiting method based on the vehicle position, the vehicle speed is accurately controlled through a specific vehicle speed control strategy, the parking process is more gradual through controlling the gradual change of the highest vehicle speed, the sudden stop feeling is avoided, the panoramic image of the vehicle can be shot when the vehicle collides, the shot image and the current vehicle condition information are stored to provide a basis for responsibility confirmation and claim settlement, and the user experience is good.
Fig. 3 is a schematic structural view of a vehicle position-based speed limiting device according to a third embodiment of the present application. As shown in FIG. 3, the speed limiter based on the vehicle position includes a memory 31 and a processor 32, the memory 31 is used for storing executable computer programs; the processor 32 is used for calling the executable computer program stored in the memory 31 and executing the following steps: acquiring the current geographic position of the vehicle; when the vehicle is in a preset geographical position, detecting the distance between the vehicle and surrounding obstacles in real time; and generating a control strategy for the vehicle speed according to the distance between the vehicle and the surrounding obstacles.
Specifically, in one embodiment, the speed limiting device based on the vehicle position is provided with a gear detection module and a distance detection module, wherein the gear detection module is used for detecting the state of the gear of the vehicle; the distance detection module is used for measuring the distance between the vehicle and an obstacle in the gear direction according to the current gear state of the vehicle.
Specifically, in one embodiment, the gear state of the vehicle includes a forward gear and a reverse gear; when the vehicle is in a forward gear, the distance detection module detects the distance between the vehicle and a front obstacle; the distance detection module detects a distance between the vehicle and a rear obstacle when the vehicle is in a reverse gear.
The application also provides a vehicle which is provided with the vehicle position-based speed limiting device.
In the present application, the speed limiting method based on the vehicle position CAN be used in a vehicle system with a vehicle machine or a vehicle TBOX, and CAN be connected to a CAN bus of the vehicle.
Specifically, in the speed limiting method based on the vehicle position, a control strategy for the vehicle speed is generated by a vehicle machine System, and is connected with an Engine Management System (EMS), an Engine and an accelerator pedal through a CAN bus to execute a corresponding control strategy.
In one embodiment, the CAN bus may include three network channels CAN _1, CAN _2, and CAN _3, and the vehicle may be provided with one ethernet network channel, three of the CAN network channels may be connected to the ethernet network channel through two car networking gateways, for example, wherein the CAN _1 network channel comprises a hybrid power assembly system, wherein the CAN _2 network channel comprises an operation guarantee system, wherein the CAN _3 network channel comprises an electric dynamometer system, the Ethernet network channel comprises a high-level management system, the advanced management system comprises a man-vehicle-road simulation system and a comprehensive information acquisition unit which are connected with an Ethernet network channel as nodes, the vehicle networking gateways of the CAN _1 network channel, the CAN _2 network channel and the Ethernet network channel CAN be integrated in the comprehensive information acquisition unit; the car networking gateway of the CAN _3 network channel and the Ethernet network channel CAN be integrated in a man-car-road simulation system.
Further, the nodes connected to the CAN _1 network channel include: an engine ECU (Electronic Control Unit), a motor MCU, a BATTERY BMS (BATTERY MANAGEMENT SYSTEM, a BATTERY management system), an automatic Transmission TCU (Transmission Control Unit), and a hybrid processor HCU (hybrid vehicle Control Unit); the nodes connected with the CAN _2 network channel comprise: the system comprises a rack measurement and control system, an accelerator sensor group, a power analyzer, an instantaneous oil consumption instrument, a direct-current power supply cabinet, an engine water temperature control system, an engine oil temperature control system, a motor water temperature control system and an engine intercooling temperature control system; the nodes connected with the CAN _3 network channel are as follows: electric dynamometer machine processor.
The preferable speed of the CAN _1 network channel is 250Kbps, and a J1939 protocol is adopted; the rate of the CAN _2 network channel is 500Kbps, and a CANopen protocol is adopted; the rate of the CAN _3 network channel is 1Mbps, and a CANopen protocol is adopted; the rate of the Ethernet network channel is 10/100Mbps, and a TCP/IP protocol is adopted.
In this embodiment, the car networking gateway supports a V2X car networking network of 5G technology, which may also be equipped with an IEEE802.3 interface, a DSPI interface, an eSCI interface, a CAN interface, an MLB interface, a LIN interface, and/or an I2C interface.
In this embodiment, for example, the IEEE802.3 interface may be used to connect to a wireless router to provide a WIFI network for the entire vehicle; the DSPI (provider manager component) interface is used for connecting a Bluetooth adapter and an NFC (near field communication) adapter and can provide Bluetooth connection and NFC connection; the eSCI interface is used for connecting the 4G/5G module and communicating with the Internet; the CAN interface is used for connecting a vehicle CAN bus; the MLB interface is used for connecting an MOST (media oriented system transmission) bus in a vehicle, and the LIN interface is used for connecting a LIN (local interconnect network) bus in the vehicle; the IC interface is used for connecting a DSRC (dedicated short-range communication) module and a fingerprint identification module. In addition, the application can merge different networks by mutually converting different protocols by adopting the MPC5668G chip.
In addition, the vehicle TBOX system, Telematics-BOX, of the present embodiment is simply referred to as a vehicle TBOX or a Telematics.
Telematics is a synthesis of Telecommunications and information science (information) and is defined as a service system that provides information through a computer system, a wireless communication technology, a satellite navigation device, and an internet technology that exchanges information such as text and voice, which are built in a vehicle. In short, the vehicle is connected to the internet (vehicle networking system) through a wireless network, and various information necessary for driving and life is provided for the vehicle owner.
According to the speed limiting method and device based on the vehicle position and the vehicle, when the vehicle is located at the preset geographic position, the distance between the vehicle and other vehicles or obstacles can be detected in real time, a control strategy for the vehicle speed is generated according to the distance between the vehicle and surrounding obstacles, the problem that nearby obstacles or vehicles are collided is avoided, and good user experience is brought.
In the description of the present application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.
Claims (6)
1. A speed limiting method based on vehicle positions is characterized by comprising the following steps:
acquiring the current geographic position of a vehicle, and selecting different vehicle speed control strategies according to different geographic positions of the vehicle;
when the vehicle is in a preset geographical position, detecting the distance between the vehicle and surrounding obstacles in real time;
the step of generating the control strategy of the vehicle speed according to the distance between the vehicle and the surrounding obstacles specifically comprises the following steps:
when the distance is equal to a first distance threshold value, controlling the vehicle to enter a speed limiting mode, and limiting the highest vehicle speed of the vehicle to a preset value;
controlling the vehicle to park when the distance is equal to a second distance threshold, wherein the second distance threshold is less than the first distance threshold;
when the distance is between a first distance threshold and a second distance threshold, controlling a maximum vehicle speed at which the vehicle is driven to decrease with decreasing distance;
when the distance is equal to a first distance threshold value, the vehicle is controlled to enter a speed limit mode, and the step of limiting the highest vehicle speed of the vehicle to be a preset value comprises the following steps:
when the distance between the vehicle and the surrounding obstacles is larger than the first distance threshold, acquiring a distance difference value between the distance and the first distance threshold;
detecting the current speed of the vehicle, and comparing the current speed with the preset value;
if the current vehicle speed is less than or equal to the preset value, keeping the current vehicle speed to continue running;
if the current vehicle speed is greater than the preset value, the opening degree of an accelerator pedal is not responded, and the braking force of the vehicle is calculated according to the distance difference, the current vehicle speed and the preset value, so that the current vehicle speed is reduced to the preset value to drive within the distance difference range;
wherein, when the distance is between a first distance threshold and a second distance threshold, controlling the maximum vehicle speed at which the vehicle is traveling to decrease with decreasing distance comprises:
when the distance is between a first distance threshold and a second distance threshold, calculating corresponding highest vehicle speeds at different distances according to the condition that S is (H-M)/K, wherein S is the highest vehicle speed, H is the distance, M is the second distance threshold, K is a constant, and S is reduced along with the reduction of H;
the speed limiting method based on the vehicle position further comprises the following steps: and when the distance is smaller than a second distance threshold value, the vehicle still runs, shooting a panoramic image of the vehicle, and storing the shot panoramic image and current vehicle condition information, wherein the vehicle condition information comprises at least one of the current vehicle speed and a corner signal.
2. The vehicle position-based speed limiting method according to claim 1, wherein the step of detecting the distance of the vehicle from the surrounding obstacle in real time comprises:
detecting a state of a gear of the vehicle;
when the vehicle is in a forward gear, detecting the distance between the vehicle and a front obstacle;
when the vehicle is in a reverse gear, detecting a distance between the vehicle and a rear obstacle.
3. A vehicle position-based speed limiter comprising a memory for storing an executable computer program and a processor; the processor is configured to invoke an executable computer program stored in the memory, and perform the following steps:
acquiring the current geographical position of a vehicle, and selecting different vehicle speed control strategies according to different geographical positions of the vehicle;
when the vehicle is in a preset geographic position, detecting the distance between the vehicle and surrounding obstacles in real time;
generating a control strategy for the vehicle speed according to the distance between the vehicle and surrounding obstacles;
the step of generating a control strategy for the vehicle speed according to the distance between the vehicle and the surrounding obstacles specifically comprises the following steps:
when the distance is equal to a first distance threshold value, controlling the vehicle to enter a speed limiting mode, and limiting the highest vehicle speed of the vehicle to a preset value;
controlling the vehicle to park when the distance is equal to a second distance threshold, wherein the second distance threshold is less than the first distance threshold;
when the distance is between a first distance threshold and a second distance threshold, controlling a maximum vehicle speed at which the vehicle is driven to decrease with decreasing distance;
when the distance is equal to the first distance threshold value, the vehicle is controlled to enter a speed limit mode, and the step of limiting the highest vehicle speed of the vehicle to a preset value comprises the following steps:
when the distance between the vehicle and the surrounding obstacles is larger than the first distance threshold, acquiring the distance difference between the distance and the first distance threshold;
detecting the current speed of the vehicle, and comparing the current speed with the preset value;
if the current vehicle speed is less than or equal to the preset value, keeping the current vehicle speed to continue running;
if the current vehicle speed is greater than the preset value, the opening degree of an accelerator pedal is not responded, and the braking force of the vehicle is calculated according to the distance difference, the current vehicle speed and the preset value, so that the current vehicle speed is reduced to the preset value to drive within the distance difference range;
wherein, when the distance is between a first distance threshold and a second distance threshold, controlling the maximum vehicle speed at which the vehicle is traveling to decrease with decreasing distance comprises:
when the distance is between a first distance threshold and a second distance threshold, calculating corresponding highest vehicle speeds at different distances according to (H-M)/K, wherein S is the highest vehicle speed, H is the distance, M is the second distance threshold, K is a constant, and S decreases with the decrease of H;
wherein the processor is configured to invoke an executable computer program stored in the memory, and further performs the following steps:
and when the distance is smaller than a second distance threshold value, the vehicle still runs, shooting a panoramic image of the vehicle, and storing the shot panoramic image and current vehicle condition information, wherein the vehicle condition information comprises at least one of the current vehicle speed and a corner signal.
4. The vehicle position-based speed limiting device according to claim 3, further comprising a gear position detection module and a distance detection module connected with the gear position detection module, wherein the gear position detection module is used for detecting the gear position state of the vehicle;
the distance detection module is used for measuring the distance between the vehicle and an obstacle in the gear direction according to the current gear state of the vehicle.
5. The vehicle position-based speed limiter according to claim 4, wherein the gear state of the vehicle includes a forward gear and a reverse gear;
the distance detection module detects the distance between the vehicle and a front obstacle when the vehicle is in a forward gear;
the distance detection module detects a distance between the vehicle and a rear obstacle when the vehicle is in a reverse gear.
6. A vehicle, characterized in that the vehicle is equipped with a vehicle position-based speed limiting device according to any one of claims 3 to 5.
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| CN113246967A (en) * | 2021-06-08 | 2021-08-13 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN115188184B (en) * | 2022-06-20 | 2024-03-19 | 海信集团控股股份有限公司 | Vehicle speed limit processing method, device and apparatus |
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| CN105984340B (en) * | 2015-01-28 | 2020-10-27 | 北京小米移动软件有限公司 | Vehicle speed control method and device |
| US20170144661A1 (en) * | 2015-11-20 | 2017-05-25 | Ford Global Technologies, Llc | Vehicle speed control system |
| CN106004828B (en) * | 2016-06-23 | 2019-05-03 | 北京新能源汽车股份有限公司 | Vehicle and speed limit control device and method thereof |
| CN109466546B (en) * | 2018-11-20 | 2020-09-18 | 广州小鹏汽车科技有限公司 | Automatic parking method and system |
| CN109591695A (en) * | 2018-11-23 | 2019-04-09 | 北京长城华冠汽车科技股份有限公司 | Vehicle-mounted early warning system, vehicle-mounted method for early warning |
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