CN111993888A - Vehicle speed control method and system - Google Patents
Vehicle speed control method and system Download PDFInfo
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- CN111993888A CN111993888A CN201910444622.6A CN201910444622A CN111993888A CN 111993888 A CN111993888 A CN 111993888A CN 201910444622 A CN201910444622 A CN 201910444622A CN 111993888 A CN111993888 A CN 111993888A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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Abstract
The embodiment of the disclosure discloses a method and a system for controlling vehicle speed, relates to the technical field of automobiles, and can solve the problem of poor accuracy of vehicle speed control in the existing vehicle speed control process. The method of the embodiment of the disclosure mainly comprises: calculating a reference speed for controlling the safe running of the vehicle according to the road information; sending the reference vehicle speed to a vehicle speed big data platform, and receiving feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed; and determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed. The embodiment of the disclosure is mainly suitable for controlling the speed of the vehicle in the running process of the vehicle.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of automobiles, in particular to a method and a system for controlling vehicle speed.
Background
With the progress of society, in order to facilitate driving, an electric vehicle is often equipped with a driving assistance system for assisting a driver in performing an operation, and the driving assistance system can assist the driver in controlling the speed of the vehicle by performing a driving assistance control on the vehicle in a current driving process.
Generally, in the conventional vehicle speed control process, the vehicle speed is generally controlled based on a speed limit sign of a road where the vehicle is located or a speed limit value in a navigation map. For example, when a vehicle is driven on a G1 highway, the conventional vehicle speed control process obtains a speed limit vehicle speed of a G1 highway in the case of a G1 highway where the vehicle is located by locating the vehicle and obtaining the vehicle location from a navigation map based on the location, and controls the vehicle speed at 120km/h since the G1 highway speed limit value is 120 km/h. However, in practical applications, the vehicle speed during driving based on the vehicle is not only determined by the road speed limit, but also affected by other factors, such as temporary construction of the road, and different temporary conditions such as more vehicles during rush hours. At this time, it is not suitable to control the vehicle speed based on the road speed limit, so that when the above factors are present on the road, the accuracy of the existing vehicle speed control method is very easy to be affected, and the reliability of the vehicle speed control is greatly reduced.
Disclosure of Invention
In view of the above problems, embodiments of the present disclosure provide a method for controlling a vehicle speed, which aims to solve the problems that when a vehicle speed is controlled only by a road speed limit value in an existing vehicle speed control process, when factors such as temporary construction and a peak time zone exist in a road affect, the accuracy of the existing vehicle speed control is low, and the reliability of a control effect is insufficient.
The embodiment of the disclosure mainly provides the following technical scheme:
in a first aspect, an embodiment of the present disclosure provides a method of controlling a vehicle speed, the method including:
calculating a reference speed for controlling the safe running of the vehicle according to the road information;
sending the reference vehicle speed to a vehicle speed big data platform, and receiving feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed, wherein the feedback data comprises a passable speed;
and determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed.
In a second aspect, embodiments of the present disclosure provide a vehicle speed control system, the system comprising: vehicle end and big data platform of speed of a motor vehicle, the vehicle end includes:
the calculating unit is used for calculating a reference vehicle speed for controlling the safe running of the vehicle according to the road information;
the communication unit is used for sending the reference vehicle speed to a vehicle speed big data platform and receiving feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed, wherein the feedback data comprises a passable speed;
and the determining unit is used for determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed.
In a third aspect, an embodiment of the present disclosure provides a storage medium including a stored program, wherein, when the program runs, a device on which the storage medium is controlled performs the control method of the vehicle speed according to the first aspect.
In a fourth aspect, embodiments of the present disclosure provide a human-computer interaction system, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the method of controlling vehicle speed of the first aspect.
According to the above description, the embodiments of the present disclosure provide a method and an apparatus for controlling a vehicle speed, which can calculate a reference vehicle speed for controlling the vehicle to safely travel according to road information, then send the reference vehicle speed to a vehicle speed big data platform, and receive feedback data output by the vehicle speed big data platform after being analyzed based on the reference vehicle speed, where the feedback data includes a passable speed, and finally determine a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed, so as to control the vehicle according to the target vehicle speed, thereby performing comprehensive analysis by combining current road information and feedback data of the vehicle speed big data platform, obtaining a target vehicle speed suitable for a current road condition to control the vehicle, and ensuring reliability of vehicle speed control when a temporary condition exists on a road, and the speed data in the large speed data platform is used as a reference, so that the real-time speed limit condition of the road where the vehicle is located can be reflected from the side, and the problem that the speed limit condition is inconsistent with the actual condition when the existing speed control is carried out based on an electronic map or road identification is solved, thereby ensuring the accuracy of vehicle speed control and ensuring the safety of the vehicle and passengers in the vehicle.
The foregoing description is only an overview of the embodiments of the present disclosure, and in order to make the technical means of the embodiments of the present disclosure more clearly understood, the embodiments of the present disclosure may be implemented in accordance with the content of the description, and in order to make the foregoing and other objects, features, and advantages of the embodiments of the present disclosure more clearly understood, the following detailed description of the embodiments of the present disclosure is given.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the present disclosure. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 shows a flow chart of a method of controlling vehicle speed provided by an embodiment of the present disclosure;
FIG. 2 is a block diagram illustrating the components of a vehicle speed control system provided by an embodiment of the present disclosure;
FIG. 3 shows a block diagram of another vehicle speed control system provided by an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In a first aspect, an embodiment of the present disclosure provides a method for controlling a vehicle speed, as shown in fig. 1, the method mainly includes:
101. and calculating a reference speed for controlling the safe running of the vehicle according to the road information.
In the process of driving the vehicle on the road, the factors influencing the driving speed of the vehicle include not only the speed limit condition of the road, but also the current road condition of the road on which the vehicle is located, for example, when the road on which the vehicle is located is in temporary construction, the original lanes may be reduced, so that more vehicles are available on the whole road, and the vehicle speed is much lower than the speed limit value at this time. In addition, the speed of the vehicle on the road is also reduced due to natural conditions such as rainy and snowy weather. Therefore, when the vehicle speed is controlled, it is necessary to first calculate a vehicle speed at which the vehicle can currently ensure safe driving, that is, a reference vehicle speed according to the embodiment of the present disclosure, and the basis for the calculation is determined according to the current road condition, that is, the road information according to the embodiment of the present disclosure.
Here, the content included in the road information may include a road condition of the current road and a speed limit condition of the road, where the road condition may be determined based on a system that is provided in the vehicle and can be used for detecting and identifying the road and obstacles, for example, when a laser radar is provided in the vehicle, the road condition may be determined according to point cloud data obtained after the laser radar scans the road. The speed limit condition may be obtained based on an electronic map stored in a preset navigation system, or acquired from speed limit signs on both sides of a road based on a visual system arranged in a vehicle, where the above-mentioned contents included in the road information are only exemplary, and may also be determined according to any other information that can affect the speed of the vehicle when the vehicle is running, which is not limited herein, and may be determined according to the actual condition. Specifically, the calculation of the reference vehicle speed based on the road information may be performed in a manner, but not limited to, as follows: the method comprises the steps of firstly scanning a current road through a preset vehicle-mounted radar, acquiring corresponding road information based on a scanning result, wherein the road information comprises the distance between a vehicle and a front vehicle, acquiring current vehicle speed information of the vehicle, calculating the relative speed between the vehicle and the front vehicle based on the current vehicle speed information and the distance difference between the vehicle and the front vehicle in a preset time period, and determining a reference vehicle speed according to the relative speed and the current vehicle speed.
102. And sending the reference vehicle speed to a vehicle speed big data platform, and receiving feedback data output by the vehicle speed big data platform after the vehicle speed big data platform analyzes the reference vehicle speed.
The vehicle speed big data platform comprises vehicle speed data of different streets. And after the platform receives the reference vehicle speed sent by the vehicle, the reference vehicle speed can be analyzed and data can be fed back. The following methods, but not limited to, may be used during the analysis:
analyzing speed data of a road where a current vehicle is located, determining a passable speed when the vehicle is driven in the road, comparing the passable speed with a reference speed, and feeding back the average speed to the vehicle when the passable speed and the reference speed are the same or the difference value is smaller than a threshold value, so that the vehicle can automatically judge which one of the two speeds (namely the passable speed and the reference speed) is selected to carry out speed control; or when the difference between the two is large, a prompt message is fed back so that the driver can conveniently judge the difference; or, when the difference between the two is large, the two feedback modes can be combined, that is, the two vehicle speeds and the prompt message are fed back at the same time, so that a user can know the vehicle speed condition and the prompt message for controlling the vehicle speed more straightly through the reference vehicle speed determined by the vehicle and the vehicle speed fed back by the platform end. Of course, the feedback data may be any auxiliary data capable of controlling the vehicle speed of the following vehicle as described above, and the feedback data may include a prompt message for the vehicle driver to perform a manual judgment and/or vehicle speed information, and may be determined according to actual conditions. In addition, in the embodiment of the disclosure, the passable vehicle speed may be a vehicle speed determined by a vehicle speed cluster (classification formed by similar vehicle speeds) on the basis of a vehicle speed distribution condition of a vehicle on a road where the vehicle is located on the vehicle, or an average value obtained by averaging and calculating all vehicle speeds on the road where the vehicle is located, where the passable vehicle speed may be any one of the foregoing, and specifically, may be selected according to an actual condition.
103. And determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed.
After the reference vehicle speed is sent to the vehicle speed big data platform in step 102, the feedback data of the vehicle speed big data platform may be received in this step based on the analysis of the platform. Since the feedback data is used for assisting the vehicle in speed control, after receiving the feedback data in this step, the target vehicle speed of the current vehicle on the road can be determined according to the feedback data and the reference data. The determination process is related to feedback data of the vehicle speed big data platform, for example, when the feedback data is prompt information for prompting a vehicle driver to perform manual judgment, the prompt information can be output to the user, so that the driver can judge the road according to the actual condition of the current vehicle. And when the feedback data is the vehicle speed, the difference between the current reference vehicle speed and the general vehicle speed of the current vehicle counted by the big data vehicle speed platform is not much, and the target vehicle speed can be determined from the current reference vehicle speed and the vehicle speed in the feedback data.
In order to ensure safe driving, a vehicle speed with a low vehicle speed is generally selected from the reference vehicle speed and the vehicle speed in the feedback data, and the selected vehicle speed is determined as a target vehicle speed to perform vehicle speed control. Of course, the target vehicle speed may be determined by other determination methods according to actual settings, and the above methods are merely exemplary.
The vehicle speed control method provided by the embodiment of the disclosure can calculate and control a reference vehicle speed of the vehicle for safe driving according to road information, then send the reference vehicle speed to a vehicle speed big data platform, receive feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed, finally determine a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed, thereby comprehensively analyzing the feedback data by combining the current road information and the vehicle speed big data platform to obtain the target vehicle speed more suitable for the current road condition to control the vehicle, ensuring the reliability of vehicle speed control when the road has a temporary condition, and reflecting the real-time speed limit condition of the road where the vehicle is located from the side surface based on the vehicle speed data in the vehicle speed big data platform as a reference, the problem that the speed limit condition is inconsistent with the actual condition when the existing speed control is carried out based on an electronic map or road identification is solved, so that the accuracy of vehicle speed control is ensured, and the safety of the vehicle and passengers in the vehicle is ensured.
In a second aspect, according to the method of the first aspect, another embodiment of the present disclosure further provides a method for controlling a vehicle speed, as a refinement and an extension of the method of the first aspect.
The method based on the embodiment of the present disclosure is mainly intended to control a vehicle speed, and based on this, in a process of actual driving of a vehicle, a position where the vehicle is located needs to be determined first, so as to determine a road where the vehicle is located and a speed limit condition, therefore, in the embodiment of the present disclosure, first, obtaining a vehicle position and determining speed limit information of the road where the current vehicle is located may be performed, specifically, obtaining the vehicle position and determining the speed limit information of the road where the current vehicle is located according to the vehicle position may include: first, a vehicle is located and vehicle position information is acquired. And then, determining a road corresponding to the position information from a preset map, and acquiring the speed limit information of the road. The preset map can be a preset high-precision electronic map, and the map contains different street names and speed limit information of the streets. The specific implementation process can include, but is not limited to, the following ways: for example, after the position information of the vehicle is acquired through the vehicle-mounted navigation system, the road corresponding to the position may be queried in a preset high-precision electronic map according to the name of the position information, and the speed limit information corresponding to the road may be acquired.
In addition, in the process of daily driving, the speed limit is only one of the reasons for responding to the driving speed of the vehicle, and the actual speed of the vehicle is also influenced by the actual vehicle condition of the road where the current vehicle is located, so after the speed limit information of the vehicle position and the road is obtained, the actual condition of the road where the current vehicle is located needs to be determined, that is, the road vehicle condition of the current road is obtained. Wherein the preset device may be a radar. Based on the actual operation, the real-time vehicle condition in the road can be collected by various radars, so when the road vehicle condition of the current road is obtained, specifically, the step may further include: acquiring point cloud data of a road where a current vehicle is located through a laser radar, and determining the vehicle and an obstacle in the current road from the point cloud data; determining surrounding vehicles and obstacles when the current vehicle runs through a millimeter wave radar; according to the vehicles and the obstacles in the road determined by the laser radar and the vehicles and the obstacles around the vehicle determined by the millimeter wave radar when the vehicle runs, the real-time road condition in the current road is determined, meanwhile, in the process of transmitting the data in the vehicle end, the data can be transmitted through a can bus or an Ethernet. Therefore, the conversion of data types or forms is not needed when the data are transmitted in different equipment and devices, and the expenditure of system internal resources is saved.
In addition, when the road information includes speed limit information and road vehicle conditions, in the process of calculating the reference vehicle speed according to the road information, a safe vehicle speed for controlling the current vehicle to travel on the road needs to be calculated as the reference vehicle speed according to the speed limit information and the road vehicle conditions. Specifically, the process of calculating the reference vehicle speed according to the speed limit information and the road vehicle condition in the road information may be performed according to any existing manner, for example, after the nearby vehicle when the current vehicle is running is determined by the laser radar and the millimeter wave radar, the speed of the vehicle ahead is measured and calculated by the displacement difference within a preset time period, the speed of the vehicle is collected, and the actual maximum speed per hour is determined by combining the speed limit information, so that the current speed at which the actual vehicle can run is determined as the reference speed. In the embodiment of the disclosure, the reference vehicle speed is calculated at the vehicle end, so that the calculated parameter vehicle speed can be calculated in real time according to the road information of the current vehicle, the timeliness of data is ensured, the influence of the acquired data on the delay of the calculation result in the data transmission process when the acquired data is transmitted to the cloud computing can be avoided, and the accuracy of the result is determined for the subsequent target vehicle speed based on the reference vehicle speed.
Further, in the process of sending the feedback data by the vehicle speed big data platform, the execution mode can be as follows:
in an embodiment of the present disclosure, the feedback data may include: actively handling information and trafficable speed of a road. Meanwhile, vehicle speed data of different roads are stored in the vehicle speed big data platform, and the road where the vehicle is located is required to be determined based on the passable speed of the road, so that the reference vehicle speed is sent to the vehicle speed big data platform and the position where the vehicle is located can be sent at the same time in the actual operation process.
When the vehicle speed big data platform receives the reference vehicle speed and the vehicle position, the vehicle speed exceeding the preset proportion in the vehicle speed distribution of the road where the vehicle position is located can be firstly determined according to the vehicle position, the vehicle speed exceeding the preset proportion is determined as the passable speed of the road, then whether the difference value between the reference vehicle speed and the passable speed of the road corresponding to the vehicle position information exceeds a threshold value or not is judged, and according to the judgment result, if the difference value between the reference vehicle speed and the passable speed is greater than the threshold value, the situation that the road condition is abnormal is probably existed due to the fact that the difference between the reference data calculated by the current vehicle actual road and the universal speed of the road vehicle determined in the speed big data platform is large, therefore, active handling information needs to be fed back, and is used for prompting a user to manually control the current vehicle speed, thereby ensuring the safety of the vehicle running. Specifically, in the process of prompting the user to manually control the current vehicle speed, the active handling information may be a trigger information used for triggering the vehicle end to prompt the user; or the active handling information is prompt information directly provided by the vehicle speed big data platform, and the vehicle end directly displays the prompt information after receiving the prompt information. On the contrary, if the difference between the reference speed and the passable speed does not exceed the threshold value, the speed calculated based on the actual road condition of the road is similar to the general speed per hour of the vehicle running in the large-speed data platform, so the passable speed of the road can be fed back to the vehicle, and the vehicle can select the proper speed to control the speed. For example, when the speed of 90% of the vehicles on the road a is 120km/h and the preset proportion is 85%, 120km/h may be determined as the passable speed of the road, and when the set reference vehicle speed is 10km/h, the reference vehicle speed is 80km/h and is greater than the preset threshold value of 10km/h based on the current difference value of 40 km/h. Therefore, it is explained that there is a large difference between the calculated reference vehicle speed of the current vehicle and the vehicle speed generally on the road determined in the vehicle speed big data platform, and active handling information needs to be output by the vehicle speed big data platform to instruct manual operation in order to ensure safety. If the reference speed is 115km/h, the difference value between the reference speed and the passable speed of the road is 5km/h and is smaller than the preset threshold value, so that the large-speed data platform can feed back the passable speed of the road of 120km/h as feedback data to the vehicle.
After the vehicle speed big data platform sends the feedback data to the vehicle end, the vehicle end is required to execute corresponding operations according to the type of the feedback data: the specific execution paradigm may be: and when the feedback data is the passable speed of the road, determining the vehicle speed with the minimum value between the passable speed and the reference vehicle speed as the target vehicle speed so as to control the vehicle speed according to the target vehicle speed. And when the feedback data is active disposal information, outputting prompt information to a user, wherein the prompt information prompts the user to manually control the current vehicle speed. For example, according to the example shown in the step 204, when the feedback data is the passable speed of the road of 120km/h, the smaller one of the 120km/h and the reference vehicle speed of 115km/h, that is, 115km/h is selected as the target vehicle speed, and the vehicle is controlled according to the target vehicle speed.
In a third aspect, according to the method shown in fig. 1 and the first aspect, another embodiment of the present disclosure further provides a vehicle speed control system, as shown in fig. 2, the system mainly includes: vehicle end 21 and big data platform of speed 22, vehicle end 21 includes:
a calculation unit 211 operable to calculate a reference vehicle speed for controlling safe travel of the vehicle based on the road information;
the communication unit 212 may be configured to send the reference vehicle speed calculated by the calculation unit 211 to the vehicle speed big data platform 22, and receive feedback data output by the vehicle speed big data platform 22 after analysis based on the reference vehicle speed;
a determining unit 213, determining a target vehicle speed according to the feedback data received by the communication unit 212 and the reference vehicle speed calculated by the calculating unit 211, so as to control the vehicle according to the target vehicle speed.
In some embodiments, as shown in fig. 3, in the system, the road information includes speed limit information and road vehicle conditions;
the vehicle end further includes:
the first obtaining unit 214 may be configured to obtain a vehicle position, and determine speed limit information of a road where a current vehicle is located according to the vehicle position;
a second obtaining unit 215, configured to obtain a road condition of the current road, where the road condition is determined according to road data collected by a preset device;
the calculating unit 211 may be specifically configured to calculate, according to the speed limit information acquired by the first acquiring unit 214 and the road condition acquired by the second acquiring unit 215, a safe vehicle speed for controlling the current vehicle to travel on the road as the reference vehicle speed.
In some embodiments, the feedback data comprises: and actively processing information, wherein the actively processing information is used for prompting a user to manually control the current vehicle speed control.
In some embodiments, as shown in fig. 3, in the system, the communication unit 212 may also be configured to transmit the vehicle position to a vehicle speed big data platform;
the vehicle speed big data platform 22 comprises:
the passable speed determining unit 221 may be configured to determine, according to a vehicle position, a vehicle speed that exceeds a preset proportion in a vehicle speed distribution of a road where the vehicle position is located, and determine the vehicle speed that exceeds the preset proportion as a passable speed of the road;
a determining unit 222, configured to determine, when a vehicle speed big data platform receives a reference vehicle speed, whether a difference between the reference vehicle speed and a passable speed of the road corresponding to the vehicle location information determined by the passable speed determining unit 221 exceeds a threshold, where vehicle speed data of different roads are stored in the vehicle speed big data platform;
a first feedback unit 223, configured to output feedback data including active disposition information to the vehicle end 21 if the determining unit 222 determines that the difference between the reference vehicle speed and the passable speed of the road corresponding to the vehicle location information exceeds the threshold, where the active disposition information is used to prompt a user of the vehicle end 21 to manually control the current vehicle speed;
the second feedback unit 224 may be configured to output feedback data including the passable speed to the vehicle end 21 if the determining unit 222 determines that the difference between the reference vehicle speed and the passable speed of the road corresponding to the vehicle position information does not exceed the threshold.
In some embodiments, as shown in fig. 3, in the system, the determining unit 213 includes:
the determining module 2131 is configured to determine a vehicle speed with a smallest value between a passable speed and the reference vehicle speed as a target vehicle speed, so as to perform vehicle speed control according to the target vehicle speed;
in some embodiments, as shown in fig. 3, in the system, the second obtaining unit 215 includes:
the first determining module 2151 may be configured to obtain point cloud data of a road where a current vehicle is located through a laser radar, and determine the vehicle and an obstacle in the current road from the point cloud data;
a second determination module 2152, which may be configured to determine surrounding vehicles and obstacles when the current vehicle is traveling by using a millimeter wave radar;
the third determining module 2153 may be configured to determine the real-time road conditions in the current road according to the vehicle and the obstacle in the road determined by the first determining module 2151 based on the lidar and the vehicle and the obstacle around the vehicle determined by the second determining module 2152 based on the millimeter wave radar when the vehicle travels.
In some embodiments, as shown in fig. 3, in the system, the first obtaining unit 214 includes:
the positioning module 2141 may be configured to position a vehicle and obtain vehicle position information;
the obtaining module 2142 may be configured to determine a road corresponding to the location information determined by the positioning module 2141 from a preset map, and obtain speed limit information of the road.
The system comprises a processor and a storage medium, wherein the computing unit, the communication unit, the determining unit and the like are stored in the storage medium as program units, and the processor executes the program units stored in the storage medium to realize corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from a storage medium. The kernel can be set to be one or more than one, and the accuracy of vehicle speed control is improved by adjusting kernel parameters.
The vehicle speed control system provided by the embodiment of the disclosure can calculate and control a reference vehicle speed of a vehicle for safe driving according to road information, then send the reference vehicle speed to a vehicle speed big data platform, receive feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed, finally determine a target vehicle speed according to a passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed, thereby comprehensively analyzing the feedback data by combining current road information and the vehicle speed big data platform to obtain the target vehicle speed more suitable for the current road condition to control the vehicle, ensuring the reliability of vehicle speed control when the road has a temporary condition, and reflecting the real-time speed limit condition of the road where the vehicle is located from the side based on the vehicle speed data in the vehicle speed big data platform as a reference, the problem that the speed limit condition is inconsistent with the actual condition when the existing speed control is carried out based on an electronic map or road identification is solved, so that the accuracy of vehicle speed control is ensured, and the safety of the vehicle and passengers in the vehicle is ensured. After the road speed limit, the actual road condition and the vehicle speed condition of the big data platform are fused for comprehensive analysis, a relatively accurate vehicle speed control effect can be realized, and the problem of poor vehicle speed effect control accuracy during sudden construction or traffic control when the speed control is carried out only by depending on a conventional road speed limit value is solved.
The vehicle speed control system provided by the embodiment of the third aspect may be configured to execute the vehicle speed control method provided by the embodiment of the first aspect or the second aspect, and the related meanings and specific implementation manners may be referred to the related descriptions in the embodiment of the first aspect or the second aspect, and will not be described in detail herein.
In a fourth aspect, an embodiment of the present disclosure provides a storage medium including a stored program, wherein, when the program runs, an apparatus in which the storage medium is located is controlled to execute the method for controlling a vehicle speed according to the first aspect or the second aspect.
The storage medium may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
In a fifth aspect, embodiments of the present disclosure provide a human-computer interaction system, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the method of controlling vehicle speed according to the first or second aspect.
Embodiments of the present disclosure also provide a computer program product adapted to perform program code initializing the following method steps when executed on a human-computer interaction system:
calculating a reference speed for controlling the safe running of the vehicle according to the road information;
sending the reference vehicle speed to a vehicle speed big data platform, and receiving feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed;
and determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (16)
1. A vehicle speed control method is applied to a vehicle end, and is characterized by comprising the following steps:
calculating a reference speed for controlling the safe running of the vehicle according to the road information;
sending the reference vehicle speed to a vehicle speed big data platform, and receiving feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed, wherein the feedback data comprises a passable speed;
and determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed.
2. The method of claim 1, wherein the road information includes speed limit information and road vehicle conditions;
before the reference vehicle speed for controlling the vehicle to safely travel is calculated according to the road information, the method includes: acquiring the position of a vehicle, and determining the speed limit information of the road where the current vehicle is located according to the position of the vehicle;
acquiring the road vehicle condition of a current road, wherein the road vehicle condition is determined according to road data acquired by preset equipment;
the calculating and controlling the reference speed of the vehicle to safely run according to the road information comprises the following steps:
and calculating a safe speed for controlling the current vehicle to run on the road according to the speed limit information and the road condition to serve as the reference speed.
3. The method of claim 2, wherein in transmitting the reference vehicle speed to a vehicle speed big data platform, the method further comprises: and sending the vehicle position to a vehicle speed big data platform.
4. The method of claim 3, wherein after transmitting the vehicle location to a vehicle speed big data platform, the method further comprises:
the vehicle speed big data platform determines the vehicle speed exceeding a preset proportion in the vehicle speed distribution of the road where the vehicle position is located according to the vehicle position, and determines the vehicle speed exceeding the preset proportion as the passable speed of the road;
judging whether the difference value between the reference vehicle speed and the passable speed exceeds a threshold value;
if so, outputting feedback data comprising active handling information, wherein the active handling information is used for prompting a user to manually control the current vehicle speed;
if not, feedback data comprising the passable speed is output.
5. The method of claim 4, wherein determining a target vehicle speed based on the passable speed in the feedback data and the reference vehicle speed comprises:
and determining the vehicle speed with the smallest value between the passable speed and the reference vehicle speed as the target vehicle speed.
6. The method according to any one of claims 2 to 5, wherein the obtaining of the road condition of the current road comprises:
acquiring point cloud data of a road where a current vehicle is located through a laser radar, and determining the vehicle and an obstacle in the current road from the point cloud data;
determining surrounding vehicles and obstacles when the current vehicle runs through a millimeter wave radar;
and determining the real-time road conditions in the current road according to the vehicles and the obstacles in the road determined by the laser radar and the vehicles and the obstacles around the vehicle determined by the millimeter wave radar during running.
7. The method according to any one of claims 2-5, wherein the obtaining of the vehicle position and the determining of the speed limit information of the road where the vehicle is located according to the vehicle position comprises:
positioning the vehicle and acquiring the position information of the vehicle;
and determining a road corresponding to the position information from a preset map, and acquiring the speed limit information of the road.
8. A control system for vehicle speed, the system comprising: vehicle end and big data platform of speed of a motor vehicle, the vehicle end includes:
the calculating unit is used for calculating a reference vehicle speed for controlling the safe running of the vehicle according to the road information;
the communication unit is used for sending the reference vehicle speed to a vehicle speed big data platform and receiving feedback data output by the vehicle speed big data platform after analysis based on the reference vehicle speed, wherein the feedback data comprises a passable speed;
and the determining unit is used for determining a target vehicle speed according to the passable speed in the feedback data and the reference vehicle speed so as to control the vehicle according to the target vehicle speed.
9. The system of claim 8, wherein the road information includes speed limit information and road vehicle conditions;
the vehicle end further includes:
the first acquisition unit is used for acquiring the position of a vehicle and determining the speed limit information of the road where the current vehicle is located according to the position of the vehicle;
the second acquisition unit is used for acquiring the road vehicle condition of the current road, wherein the road vehicle condition is determined according to road data acquired by preset equipment;
and the calculating unit is specifically used for calculating a safe vehicle speed used for controlling the current vehicle to run on the road according to the speed limit information and the road vehicle condition and taking the safe vehicle speed as the reference vehicle speed.
10. The system of claim 9,
and the communication unit is also used for sending the vehicle position to a vehicle speed big data platform.
11. The system of claim 10, wherein the vehicle speed big data platform comprises:
the passable speed determining unit is used for determining the speed exceeding the preset proportion in the speed distribution of the road where the vehicle position is located according to the vehicle position, and determining the speed exceeding the preset proportion as the passable speed of the road;
the judging unit is used for judging whether the difference value between the reference speed and the passable speed of the road corresponding to the vehicle position information exceeds a threshold value or not when the vehicle speed big data platform receives the reference speed;
the first feedback unit is used for outputting feedback data including active handling information if the difference value between the reference vehicle speed and the passable speed of the road corresponding to the vehicle position information exceeds a threshold value, wherein the active handling information is used for prompting a user to manually control the current vehicle speed;
and the second feedback unit is used for outputting feedback data including the passable speed if the difference value between the reference vehicle speed and the passable speed of the road corresponding to the vehicle position information does not exceed the threshold value.
12. The system of claim 11, wherein the determining unit comprises:
and the determining module is used for determining the vehicle speed with the minimum value between the passable speed and the reference vehicle speed as the target vehicle speed so as to control the vehicle speed according to the target vehicle speed.
13. The system according to any one of claims 9-12, wherein the second obtaining unit comprises:
the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for acquiring point cloud data of a road where a current vehicle is located through a laser radar, and determining the vehicle and an obstacle in the current road from the point cloud data;
the second determination module is used for determining surrounding vehicles and obstacles when the current vehicle runs through the millimeter wave radar;
and the third determination module is used for determining the real-time road conditions in the current road according to the vehicles and the obstacles in the road determined by the laser radar and the vehicles and the obstacles around the vehicle determined by the millimeter wave radar during running.
14. The system according to any one of claims 9-12, wherein the first obtaining unit comprises:
the positioning module is used for positioning the vehicle and acquiring the position information of the vehicle;
and the acquisition module is used for determining a road corresponding to the position information from a preset map and acquiring the speed limit information of the road.
15. A storage medium characterized by comprising a stored program, wherein a device on which the storage medium is located is controlled to execute the vehicle speed control method according to any one of claims 1 to 7 when the program is executed.
16. A human-computer interaction system, characterized in that the system comprises a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform a method of controlling vehicle speed as claimed in any one of claims 1 to 7.
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| CN201910444622.6A CN111993888A (en) | 2019-05-27 | 2019-05-27 | Vehicle speed control method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910444622.6A CN111993888A (en) | 2019-05-27 | 2019-05-27 | Vehicle speed control method and system |
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