CN112046480A - Control method and device for vehicle speed limit - Google Patents

Control method and device for vehicle speed limit Download PDF

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Publication number
CN112046480A
CN112046480A CN202010996377.2A CN202010996377A CN112046480A CN 112046480 A CN112046480 A CN 112046480A CN 202010996377 A CN202010996377 A CN 202010996377A CN 112046480 A CN112046480 A CN 112046480A
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China
Prior art keywords
speed
vehicle
target
data
limit
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CN202010996377.2A
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Chinese (zh)
Inventor
钟仲芳
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to CN202010996377.2A priority Critical patent/CN112046480A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The embodiment of the invention provides a control method and a device for vehicle speed limit, which are applied to a vehicle-mounted system, wherein the method comprises the following steps: acquiring map data; the map data comprises EHP map data; determining target speed limit data of a road where a vehicle is located according to the EHP map data; and acquiring the current running data of the vehicle, and adjusting the running speed of the vehicle according to the target speed limit data and the current running data. Analyzing the speed limit data of the road ahead of the vehicle in advance by acquiring high-precision map data; in addition, the running speed of the vehicle can be processed in advance according to the current running data of the vehicle, the running speed of the vehicle is smoothly transited to the limiting speed, the linear acceleration and deceleration effect is achieved, and the user experience is improved.

Description

Control method and device for vehicle speed limit
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method and a control device for vehicle speed limit.
Background
With the rapid increase of automobile holding capacity and vehicle traveling, the traffic safety problem is increasingly prominent. To solve the various traffic problems caused by the above, the industry has been actively developing ITS Intelligent transportation system (Intelligent transportation system). The core technology of the ITS intelligent transportation system relates to digital signal processing, communication technology, image processing, pattern recognition and artificial intelligence, and unmanned driving is a typical application of the ITS intelligent transportation system.
The existing market has a function of advanced vehicle driving assistance related to an ITS intelligent traffic system, and for the identification of the road speed limit value, the speed limit board beside the road is only identified by a vision module to obtain the identification, however, the identification mode of the road speed limit value is strictly influenced by environmental factors, such as in the dark, foggy and rainy days, for example, some trees beside the road are numerous, such as the font of some speed limit boards is dropped and damaged, the false identification rate is particularly high, and the user experience is poor.
Disclosure of Invention
In view of the above problems, embodiments of the present invention have been made to provide a control method of a vehicle speed limit and a corresponding control apparatus of a vehicle speed limit that overcome or at least partially solve the above problems.
In order to solve the above problems, the embodiment of the invention discloses a control method for vehicle speed limit, which is applied to a vehicle-mounted system, and the method comprises the following steps:
acquiring map data; the map data comprises EHP map data;
determining target speed limit data of a road where a vehicle is located according to the EHP map data;
and acquiring the current running data of the vehicle, and adjusting the running speed of the vehicle according to the target speed limit data and the current running data.
Optionally, the EHP map data includes first speed limit data; the determining of the target speed limit data of the road where the vehicle is located according to the EHP map data comprises the following steps:
acquiring image identification data acquired when a vehicle runs; the image identification data comprises a current analysis limit index and second speed limit data;
judging whether first speed limit data in the EHP map data is the same as second speed limit data in the image identification data;
if the first speed limit data is the same as the second speed limit data, determining that any one of the first speed limit data or the second speed limit data is the target speed limit data of the road where the vehicle is located;
and if the first speed limit data is different from the second speed limit data, determining target speed limit data of a road where the vehicle is located according to the current analysis limit index contained in the image identification data.
Optionally, the target speed limit data of the road where the vehicle is located includes a target speed limit of the road where the vehicle is located and a target speed limit distance between a speed limit section for the target speed limit and the current position of the vehicle; the current travel data of the vehicle includes a current travel speed of the vehicle and an adaptive travel speed of the vehicle.
Optionally, the adjusting the driving speed of the vehicle according to the target speed limit data and the current driving data includes:
and determining a target running speed according to the target speed limit data and the current running data, and linearly controlling the running speed of the vehicle according to the target running speed.
Optionally, the determining a target driving speed according to the target speed limit data and the current driving data includes:
judging whether the current running speed is greater than the target limit speed, and if the current running speed is greater than the target limit speed, determining that the target limit speed is the target running speed;
if the current running speed is less than or equal to the target limit speed, judging whether the self-adaptive running speed is greater than or equal to the target limit speed;
if the self-adaptive running speed is greater than or equal to the target limit speed, determining the target limit speed as a target running speed;
and if the self-adaptive running speed is smaller than the target limit speed, determining that the self-adaptive running speed is the target running speed.
Optionally, the linearly controlling the running speed of the vehicle according to the target running speed includes:
obtaining an optimal speed control distance by adopting the target running speed and the current running speed;
determining a target speed control distance aiming at the speed of the vehicle to be controlled according to the optimal speed control distance and the target speed limit distance;
and controlling the running speed of the vehicle to gradually accelerate or decelerate from the current running speed of the vehicle to the target running speed within the target speed control distance.
Optionally, the determining a target speed control distance for controlling the speed of the vehicle according to the optimal speed control distance and the target speed limit distance includes:
judging the size relationship between the optimal speed control distance and the target speed limit distance;
if the optimal speed control distance is greater than or equal to the target speed limit distance, determining the target speed limit distance as the target speed control distance for controlling the speed of the vehicle;
if the optimal speed control distance is smaller than the target speed limit distance, judging the size relationship between the optimal speed control distance and the target speed limit distance according to a preset time interval, and determining the target speed limit distance as the target speed control distance aiming at the speed of the controlled vehicle when the optimal speed control distance is equal to the target speed limit distance.
Optionally, the controlling the running speed of the vehicle within the target speed control distance, gradually accelerating or decelerating from the current running speed of the vehicle to the target running speed, includes:
calculating to obtain an acceleration and deceleration change value by adopting the target running speed, the current running speed of the vehicle and the target speed control distance;
and setting the latest current running speed of the vehicle according to the sum of the acceleration and deceleration change value and the current running speed of the vehicle during running of the vehicle, so that the running speed of the vehicle is controlled within the target speed control distance according to the set latest current running speed.
The embodiment of the invention also discloses a control device for limiting the speed of the vehicle, which is applied to a vehicle-mounted system, and the device comprises:
the map data acquisition module is used for acquiring map data; the map data comprises EHP map data;
the speed limit data determining module is used for determining target speed limit data of a road where a vehicle is located according to the EHP map data;
and the running speed adjusting module is used for acquiring the current running data of the vehicle and adjusting the running speed of the vehicle according to the target speed limit data and the current running data.
Optionally, the EHP map data includes first speed limit data; the speed limit data determining module comprises:
the image identification data acquisition submodule is used for acquiring image identification data acquired when the vehicle runs; the image identification data comprises a current analysis limit index and second speed limit data;
the data judgment sub-module is used for judging whether first speed limit data in the EHP map data are the same as second speed limit data in the image identification data;
a first speed limit data determining submodule, configured to determine, if the first speed limit data is the same as the second speed limit data, that any one of the first speed limit data and the second speed limit data is a target speed limit data of a road where a vehicle is located;
and the second speed limit data determining submodule is used for determining the target speed limit data of the road where the vehicle is located according to the current analysis limit index contained in the image identification data if the first speed limit data is different from the second speed limit data.
Optionally, the target speed limit data of the road where the vehicle is located includes a target speed limit of the road where the vehicle is located and a target speed limit distance between a speed limit section for the target speed limit and the current position of the vehicle; the current travel data of the vehicle includes a current travel speed of the vehicle and an adaptive travel speed of the vehicle.
Optionally, the driving speed adjustment module comprises:
the target running speed determining submodule is used for determining a target running speed according to the speed limit data and the current running data;
and the running speed control submodule is used for linearly controlling the running speed of the vehicle according to the target running speed.
Optionally, the target travel speed determination submodule includes:
a first target driving speed determining unit, configured to determine whether the current driving speed is greater than the target speed limit, and if the current driving speed is greater than the target speed limit, determine that the target speed limit is a target driving speed;
a speed determination unit, configured to determine whether the adaptive driving speed is greater than or equal to the target speed limit if the current driving speed is less than or equal to the target speed limit;
a second target travel speed determination unit configured to determine that the target speed limit is a target travel speed if the adaptive travel speed is greater than or equal to the target speed limit;
a third target travel speed determination unit configured to determine that the adaptive travel speed is the target travel speed if the adaptive travel speed is less than the target limit speed.
Optionally, the travel speed control sub-module includes:
an optimal speed control distance generating unit for obtaining an optimal speed control distance by using the target running speed and the current running speed;
a target speed control distance determining unit for determining a target speed control distance for controlling the speed of the vehicle according to the optimal speed control distance and the target speed limit distance;
a running speed control unit for controlling the running speed of the vehicle to gradually accelerate or decelerate from a current running speed of the vehicle to the target running speed within the target speed control distance.
Optionally, the target speed control distance determination unit includes:
the distance judging subunit is used for judging the size relationship between the optimal speed control distance and the target speed limit distance;
a first target speed control distance determining subunit, configured to determine, if the optimal speed control distance is greater than or equal to the target speed limit distance, that the target speed limit distance is the target speed control distance for controlling the speed of the vehicle;
and a second target speed control distance determining subunit, configured to, if the optimal speed control distance is smaller than the target speed limit distance, determine a size relationship between the optimal speed control distance and the target speed limit distance according to a preset time interval, and determine that the target speed limit distance is the target speed control distance for controlling the vehicle speed until the optimal speed control distance is equal to the target speed limit distance.
Optionally, the travel speed control unit includes:
an acceleration and deceleration change value operator unit, configured to calculate an acceleration and deceleration change value by using the target travel speed, the current travel speed of the vehicle, and the target speed control distance;
and a running speed control subunit, configured to set a latest current running speed of the vehicle according to a sum of the acceleration/deceleration change value and a current running speed of the vehicle during running of the vehicle, so as to control the running speed of the vehicle according to the set latest current running speed within the target speed control distance.
The embodiment of the invention also discloses a vehicle, which comprises: the vehicle speed limit control device comprises a control device, a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein the computer program realizes the steps of any one of the vehicle speed limit control methods when being executed by the processor.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the steps of any one of the vehicle speed limit control methods.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the method is applied to a vehicle-mounted system, the EHP map data can be acquired, the target speed limit data of the road where the vehicle is located can be determined according to the EHP map data, and the running speed of the vehicle can be adjusted according to the current running data of the vehicle and the determined target speed limit data of the road where the vehicle is located. Analyzing the speed limit data of the road ahead of the vehicle in advance by acquiring high-precision map data; in addition, the running speed of the vehicle can be processed in advance according to the current running data of the vehicle, the running speed of the vehicle is smoothly transited to the limiting speed, the linear acceleration and deceleration effect is achieved, and the user experience is improved.
Drawings
FIG. 1 is a flow chart illustrating the steps of a first embodiment of a method for controlling a vehicle speed limit according to the present invention;
FIG. 2 is a schematic diagram of a hardware architecture of a control method for vehicle speed limit according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a second embodiment of a method for controlling a vehicle speed limit according to the present invention;
FIG. 4 is a schematic diagram of acquiring image identification data and EHP map data in an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a variation in the traveling speed of the linearly controlled vehicle in the embodiment of the present invention;
FIG. 6 is a block diagram of an embodiment of a control device for vehicle speed limit according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In the first case, under the influence of environmental factors, such as fog or heavy rain, the image recognition data acquired by the vision module may be severely affected (for example, the definition is insufficient, the distance is short, and the like), when the vision module enters a tunnel or some speed-limiting road sections on an overhead ground in such an environment, if the accuracy of the image recognition data acquired by the vision module is insufficient, effective speed-limiting data cannot be analyzed, or if the distance of the effective data recognized by the vision module is too short, a sudden brake, an overspeed pass or a turtle-speed driving phenomenon may occur.
In the second situation, if a higher vehicle in front blocks the speed limit sign when the vehicle runs, if the vehicle in front runs at an excessive speed, the visual module cannot acquire a correct speed limit value at this time, and the current running speed of the vehicle cannot be effectively controlled due to the fact that the vehicle in front runs at an excessive speed, so that the phenomenon of excessive running occurs.
One of the core ideas of the embodiment of the invention is that the speed limit data of the road in front of the vehicle is analyzed in advance by acquiring EHP (Electronic Horizon Provider) map data and combining image recognition data, so that the speed limit data is acquired under the influence of reducing environmental factors or other factors (for example, the higher vehicle in front blocks the speed limit board, etc.); in addition, the running speed of the vehicle can be processed in advance according to the current running data of the vehicle, so that the running speed of the vehicle smoothly transits to the limit speed, and the linear acceleration and deceleration effect is achieved.
Referring to fig. 1, a flowchart of a first embodiment of a method for controlling vehicle speed limit according to the present invention is shown, and is applied to a vehicle-mounted system, and specifically includes the following steps:
step 101, obtaining map data; the map data comprises EHP map data;
step 102, determining target speed limit data of a road where a vehicle is located according to the EHP map data;
in one embodiment of the present invention, the in-vehicle system may acquire map data, which may be EHP map data, to improve the accuracy of the determined target speed limit data.
The EHP map data is high-precision map data, can provide road shape and data information in the front beyond visual range for ADAS (Advanced Driving Assistance System) application, can be obtained by a communication request of a vehicle-mounted System and a map engine deployed on a preset server, can be high-precision map data obtained by combining a map engine with a cloud map and road condition data, is mainly used for a vehicle end scene, can be used for navigation data and is used as an input source of a newly added sensor, and assists vehicle ADAS terminal application in making execution judgment so as to improve the safety of vehicle Driving. It should be noted that the EHP map data is different from the general map data, and the general map data is data used for functions such as map rendering and road calculation, and cannot be used for assisting the vehicle ADAS terminal application.
And 103, acquiring current running data of the vehicle, and adjusting the running speed of the vehicle according to the target speed limit data and the current running data.
In one embodiment of the present invention, after obtaining the effective speed limit data using the EHP high-precision map data, the current driving data of the vehicle may be acquired, and the driving speed of the vehicle may be adjusted according to the acquired current driving data and the determined effective speed limit data.
The current driving data of the vehicle may include a current driving speed of the vehicle, a current driving position of the vehicle, an adaptive driving speed of the vehicle, and the like.
In practical application, after the effective speed-limiting data of the road in front of the vehicle is obtained, the obtained current driving data of the vehicle can be obtained in real time, namely, in the process that the vehicle gradually drives to the speed-limiting road section with the speed-limiting data in front, the current driving data of the vehicle can be obtained in real time, and the driving speed of the vehicle is adjusted in real time, so that the vehicle can gradually accelerate and decelerate before driving to the speed-limiting road section to achieve the speed-limiting value of the road section.
In the embodiment of the invention, the method is applied to a vehicle-mounted system, the EHP map data can be acquired, the target speed limit data of the road where the vehicle is located can be determined according to the EHP map data, and the running speed of the vehicle can be adjusted according to the current running data of the vehicle and the determined target speed limit data of the road where the vehicle is located. Analyzing the speed limit data of the road ahead of the vehicle in advance by acquiring high-precision map data; in addition, the running speed of the vehicle can be processed in advance according to the current running data of the vehicle, the running speed of the vehicle is smoothly transited to the limiting speed, the linear acceleration and deceleration effect is achieved, and the user experience is improved.
Referring to fig. 2, which shows a hardware architecture diagram of a control method for vehicle speed limit in an embodiment of the present invention, an on-board system of a vehicle may be connected with a vision module VPM of the vehicle and with a map engine.
The vehicle-mounted system can be accessed to the central gateway through an ICAN bus, the vision module VPM can be accessed to the central gateway through a BACN bus, and at the moment, the vision module VPM can transmit data obtained by image recognition to the central gateway through the BACN bus and transmit the data obtained by recognition to the vehicle-mounted system through the central gateway through the ICAN bus, namely, the vehicle-mounted system and the vision module can be communicated with each other through the central gateway; for the communication connection between the vehicle-mounted system and the map engine, specifically, a map client (app) may be installed on the vehicle-mounted system, the map app may have a corresponding server, and a map engine that responds to a map app request and provides a corresponding function may be deployed on the corresponding server, that is, the vehicle-mounted system and the map engine may communicate with each other through a communication request.
Referring to fig. 3, a flowchart of steps of a second embodiment of the method for controlling vehicle speed limit of the present invention is shown, and the method is applied to a vehicle-mounted system, and specifically may include the following steps:
step 301, acquiring image identification data acquired by a vision module of a vehicle, and receiving EHP map data sent by a map engine;
in an embodiment of the invention, the vehicle-mounted system may acquire the image recognition data acquired by the vision module and receive the EHP map data sent by the map engine, so as to determine the effective speed limit data of the road where the vehicle is located by combining the image recognition data and the EHP map data, and improve the effectiveness and accuracy of the speed limit data.
The image recognition data collected when the vehicle runs can be data collected through the vision module in the running process of the vehicle, the vehicle vision module can recognize corresponding data on the speed limit board through recognizing the speed limit board of the road in front of the vehicle, and can also recognize speed limit data of the road where the vehicle is located through taking the vehicles on the front, the back, the left and the right as reference objects, so that the embodiment of the invention is not limited.
In a specific implementation, the vehicle-mounted system and the visual module can communicate with each other through the central gateway, and the vehicle-mounted system and the map engine can communicate with each other through a communication request, at this time, a map client on the vehicle-mounted system can simultaneously monitor a change state of the collected data in the map engine and a change state of the collected data in the visual module, and when the monitored data collected on the map engine and/or the visual module changes, the map engine and the visual module can send the collected data to the map client when the change occurs.
The map engine and the vision module are monitored simultaneously, and the following three conditions can occur.
In the first case, if the change state of the collected data in the visual module and the change state of the collected data in the map engine are monitored to be changed at the same time, the image identification data sent by the visual module and the EHP map data sent by the map engine may be received at the same time; under the second condition, if the change state of the acquired data in the vision module is monitored to be changed independently, the image identification data sent by the vision module can be received independently; in a third case, if it is monitored that the change state of the collected data in the map engine changes, the EHP map data sent by the map engine may be received separately.
Referring to fig. 4, which shows a schematic diagram of acquiring image identification data and EHP map data according to an embodiment of the present invention, the image identification data identified by the vision module may be acquired 10m ahead of time, and the EHP map data sent by the received map engine may be acquired 2km ahead of time.
As shown in fig. 4, if the vehicle is merely visually recognized, the distance left for acceleration and deceleration of the vehicle is often short, and therefore rapid acceleration and rapid deceleration are likely to occur. However, if the EHP map data is added, the speed limit data in front of the vehicle can be acquired 2 kilometers in advance, and the vehicle can be accelerated and decelerated in advance by a sufficient distance, so that the linear acceleration and deceleration effect is achieved.
In the embodiment of the invention, EHP map data can be combined, on one hand, the existing vision module is combined to identify the speed limit sign beside the road, on the other hand, the speed limit value of the road in front of the vehicle is obtained in advance through the EHP data, and on the other hand, the vehicle speed signal at the moment of the vehicle is combined to carry out beyond visual range prejudgment and gradually reduce or gradually improve the vehicle speed, so that the situations of sudden braking, sudden acceleration and the like are avoided, and the user experience is improved.
Step 302, determining target speed limit data of a road where a vehicle is located by combining the received image identification data and EHP map data;
in practical application, if the change state of the collected data in the vision module and the change state of the collected data in the map engine are monitored simultaneously, the received image identification data and the EHP map data can be combined to determine the target speed limit data of the road in front of the vehicle, so that the driving speed of the vehicle can be controlled through the target speed limit data.
In one embodiment of the present invention, step 302 may include the following sub-steps:
a substep S11 of, when receiving the EHP map data and the image recognition data at the same time, determining whether first speed limit data in the EHP map data and second speed limit data in the image recognition data are the same;
in the substep S12, if the first speed limit data is the same as the second speed limit data, determining that any one of the first speed limit data or the second speed limit data is the speed limit data of the road where the vehicle is located;
when a map client on a vehicle-mounted system receives data sent by a map engine and a vision module at the same time, wherein the received EHP map data sent by the map engine can include first speed limit data, and the received second speed limit data sent by the vision module and obtained through image recognition can be compared with the two sets of data.
And a substep S13, if the first speed limit data is different from the second speed limit data, determining the speed limit data of the road where the vehicle is located according to the current analysis limit index contained in the image identification data.
In another case, the first speed limit data in the EHP map data sent by the map engine is different from the second speed limit data obtained through image recognition sent by the vision module, and the image recognition data sent by the vision module may include a current analysis limit index, and at this time, in order to determine the speed limit data of the road where the vehicle is located, the speed limit data may be further determined according to the current analysis limit index.
Specifically, it may be determined whether the current analysis index is greater than a preset index threshold value; if the current analysis limit index is larger than the preset threshold value, the EHP map data can be determined to be the speed limit data of the road where the vehicle is located; if the current analysis index is smaller than or equal to the preset threshold value, the second speed limit data obtained through image recognition can be determined to be the speed limit data of the road where the vehicle is located.
The current analysis limiting index included in the image identification data may refer to a degree of influence of an analysis condition limiting factor on the image identification data currently identified by the vision module, where the analysis condition limiting factor may include a weather factor (e.g., fog weather or rainstorm weather), a human factor (e.g., a higher vehicle in front blocks a speed limit sign), an objective factor (e.g., limitation of insufficient definition, short distance, etc.), and the like.
As an example, the degree of influence of the resolution limiting factor on the image recognition data can be represented by limit, and the value of limit can be represented by 0-2. When the limit is 0, it can be shown that the analysis condition is good, that is, the image identification data is influenced by the analysis condition limiting factor to the minimum extent, and the influence degree can be basically ignored, for example, when the speed limit guideboard is not blocked and the image is clear; when limit is 1, it may indicate that the resolution condition is acceptable, for example, in rainy or foggy weather, the speed limit guideboard is somewhat fuzzy, but may be identified by an algorithm; when the limit is 2, the analysis condition limit may be indicated, and at this time, the image recognition data is influenced to the highest degree by the analysis condition limit factor, that is, the image recognition data recognized by the vision module is inaccurate, for example, in the case that the speed-limiting guideboard is completely blocked or the image is very blurred.
In a preferred embodiment, when the change state of the acquired data in the vision module is monitored separately, that is, the image identification data sent by the vision module is received separately, the second speed limit data in the image identification data can be directly determined as the speed limit data of the road where the vehicle is located; when the change state of the collected data in the map engine is monitored to be changed independently, namely the EHP map data sent by the map engine is received independently, the first speed limit data in the EHP map data can be directly determined to be the speed limit data of the road where the vehicle is located.
The speed limit data of the determined road where the vehicle is located may include a target speed limit and a target speed limit distance. The target limit speed may refer to a target limit speed of a road on which the vehicle is located, that is, a speed limit value of a speed limit section to which the vehicle is going to travel; the target speed limit distance may refer to a distance of the speed limit section for which the target speed limit is directed from the current position of the vehicle.
It should be noted that, in practical application, in combination with the EHP map data and the image identification data, as shown in fig. 4, since the image identification data can be acquired 10m ahead of time, and the EHP map data can be acquired 2km ahead of time, it may not happen that, in a theoretical value, a change state of the collected data in the vision module and a change state of the collected data in the map engine are monitored at the same time; in practical situations, the vehicle-mounted system can acquire EHP map data sent by a map engine 2km ahead, determine speed limit data according to the EHP map data, perform acceleration and deceleration processing in advance, and then acquire image identification data identified by a vision module 10m ahead so as to mutually verify the image identification data and the EHP map data to obtain effective speed limit data.
And 303, linearly adjusting the running speed of the vehicle according to the target speed limit data and the current running data.
In one embodiment of the invention, after the valid speed limit data is determined, the current driving data of the vehicle may be acquired, and the driving speed of the vehicle may be adjusted according to the acquired current driving data and the determined valid speed limit data.
The acquired current traveling data of the vehicle may include a current traveling speed of the vehicle and an adaptive traveling speed of the vehicle, among others.
The Adaptive Cruise speed may refer to a Cruise speed provided by Adaptive Cruise (ACC), which may keep a set maximum Cruise speed forward if the vehicle is clear ahead; if a vehicle is detected ahead, an adaptive cruise (ACC) may reduce the speed as needed and maintain a selected time-based distance from the leading vehicle until a suitable cruising speed is reached.
In one embodiment of the present invention, step 303 may include the following sub-steps:
a substep S21 of determining a target driving speed according to the speed limit data and the current driving data;
in practical application, in order to control the running speed of the vehicle to meet the target speed limit speed of the speed limit road section, the target running speed can be determined according to the speed limit data and the current running data.
Specifically, it may be determined whether the current driving speed is greater than a target speed limit, and if the current driving speed is greater than the target speed limit, the target speed limit may be determined as the target driving speed; if the current running speed is less than or equal to the target limit speed, the target running speed can be further determined through the adaptive running speed of the vehicle.
In one embodiment of the present invention, it may be determined whether the adaptive travel speed of the vehicle is greater than or equal to a target limit speed; if the adaptive driving speed is greater than or equal to the target limit speed, determining the target limit speed as the target driving speed; if the adaptive travel speed is less than the target limit speed, the adaptive travel speed may be determined to be the target travel speed.
As an example, assuming that the target speed limit included in the speed limit data of the road on which the vehicle is located is s.speed, the current running speed curSpeed included in the acquired current running data of the vehicle, and the adaptive running speed of the vehicle is accSpeed, the formula for calculating the target running speed destSpeed at this time may be: target driving speed destSpeed? (accSpeed > -s.speed).
And a substep S22 of linearly controlling the running speed of the vehicle in accordance with the target running speed.
In an embodiment of the present invention, during the running process of the vehicle, the current running speed of the vehicle may be changed in real time, and the calculated target running speed may also be determined in real time and calculated in real time, at this time, the running speed of the vehicle may be controlled in real time according to the target running speed calculated in real time, so as to make the running speed of the vehicle smoothly transition to the target speed limit, thereby achieving the linear acceleration and deceleration effect.
In one embodiment of the present invention, the sub-step S22 may include the following sub-steps:
a substep S221 of obtaining an optimal speed control distance by using the target running speed and the current running speed;
in a specific implementation, after the real-time target running speed is determined according to the real-time current running speed and the target limit speed of the vehicle, in order to adjust the running speed of the vehicle in real time, an optimal speed control distance is acquired at this time, so that the current running speed of the vehicle is adjusted to the target running speed in real time within the optimal speed control distance.
Wherein, the optimal speed control distance can be calculated according to the target running speed and the current running speed.
As an example, assume that the target travel speed is destSpeed, the current travel speed is curSpeed, the optimal speed control Distance is best Distance, and may be at 1.8m/s in accordance with the acceleration a of the vehicle2To 3.6m/s2The interval is comfortable to human body, and the acceleration a can be selected to be 3m/s2The optimal speed control Distance best Distance can be calculated by the following formula:
t＝(destSpeed–curSpeed)/a
bestDistance＝curSpeed*t+1/2*a*t2
a substep S222 of determining a target speed control distance for controlling the speed of the vehicle according to the optimal speed control distance and the target speed limit distance;
in an embodiment of the present invention, after the optimal speed control distance is obtained, the target speed control distance for controlling the speed of the vehicle may be determined according to the optimal speed control distance and the current position target speed limit distance of the vehicle from the speed limit road section for the target speed limit, so as to adjust the current driving speed of the vehicle to the target driving speed in real time within the target speed control distance.
Specifically, the magnitude relation between the optimal speed control distance and the target speed limit distance can be judged, and the target speed limit distance is determined according to the magnitude relation obtained through judgment. It may be assumed that the target speed limit distance included in the speed limit data of the road on which the vehicle is determined is s.distance, and the target speed control distance is destDistance.
In one case, if the optimal speed control distance is greater than or equal to the target speed limit distance, i.e., when best distance > s.distance, the target speed limit distance may be determined to be a target speed control distance for controlling the speed of the vehicle, i.e., destDistance s.distance;
in another case, if the optimal speed control distance is less than the target speed limit distance, that is, when the best distance is less than s.distance, the magnitude relationship between the optimal speed control distance and the target speed limit distance may be continuously determined according to a preset time interval during the vehicle driving process until the optimal speed control distance is equal to the target speed limit distance, and the target speed limit distance is determined as the target speed control distance for controlling the vehicle speed, where the preset time interval may be 1s, that is, 1s query is performed once, and when s.distance is the best distance, the destDistance is s.distance.
And a substep S223 of controlling the traveling speed of the vehicle to gradually accelerate or decelerate from the current traveling speed of the vehicle to the target traveling speed within the target speed control distance.
In practical application, the running speed of the vehicle can be longitudinally controlled to gradually accelerate or decelerate from the real-time current running speed of the vehicle to the target running speed within the target speed control distance, namely, the running speed of the expected vehicle can be accurately followed through coordination of an accelerator and a brake, so that the running speed of the vehicle smoothly transits to the target limiting speed, and a linear acceleration or deceleration effect is achieved.
It should be noted that the control of the running speed of the longitudinal vehicle belongs to the motion control of the unmanned vehicle
One of the functions (which can be realized by the advanced driving assistance system of the ADAS) is to realize the longitudinal control of the vehicle's driving speed and to realize the path tracking of the unmanned vehicle by using the lateral control, so that the vehicle can accurately track the expected road according to the real-time adjusted driving speed and has good dynamic performance and riding comfort while ensuring the vehicle's steering stability.
Wherein, the acceleration and deceleration change value can be calculated by adopting the target running speed, the current running speed of the vehicle and the target speed control distance; and during the running of the vehicle, the latest current running speed of the vehicle may be set according to the sum of the acceleration and deceleration variation value and the current running speed of the vehicle, so that the running speed of the vehicle is controlled within the target speed control distance according to the set latest current running speed.
As an example, the acceleration/deceleration change value K ═ destSpeed-current/destDistance may be obtained using the linear acceleration/deceleration principle, and then the current speed (current + K) may be set to the in-vehicle system for vehicle travel speed control.
The acceleration/deceleration variation value K may be a positive number or a negative number, and when K is a positive number, it indicates that the current running speed of the vehicle is insufficient to reach the target running speed, and at this time, the current running speed of the vehicle needs to be gradually accelerated within the target control distance; when K is a negative number, it indicates that the current running speed of the vehicle exceeds the target running speed, and at this time, the current running speed of the vehicle needs to be gradually decelerated within the target control distance.
Referring to fig. 5, a schematic diagram illustrating a variation of linearly controlling the vehicle running speed according to an embodiment of the present invention is shown, where the schematic diagram may be a deceleration schematic diagram, that is, a current running speed of the vehicle needs to be gradually decelerated within a target control distance to decelerate to a target running speed, as shown in fig. 5, which may be a solid line decelerating from 120 km/h to 60 km/h within 10 meters and a dashed line decelerating from 120 km/h to 60 km/h within 50 meters, respectively, where the dashed lines are relatively smooth, that is, relatively small in slope, and a slow deceleration effect may be achieved. The slope may be the same as the addition/subtraction variation value K.
In the embodiment of the invention, the method is applied to the vehicle-mounted system, can acquire the image identification data acquired when the vehicle runs and the EHP high-precision map data, determines the speed limit data of the road where the vehicle is located according to the image identification data and the EHP map data, and can adjust the running speed of the vehicle according to the current running data of the vehicle and the determined speed limit data of the road where the vehicle is located. Analyzing the speed limit data of the front road where the vehicle is located in advance by combining the image identification data and the EHP map data; in addition, the running speed of the vehicle can be processed in advance according to the current running data of the vehicle, the running speed of the vehicle is smoothly transited to the limiting speed, the linear acceleration and deceleration effect is achieved, and the user experience is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a block diagram of a structure of an embodiment of a control device for limiting vehicle speed according to the present invention is shown, and is applied to a vehicle-mounted system, and specifically includes the following modules:
a map data acquisition module 601, configured to acquire map data; the map data comprises EHP map data;
a speed limit data determining module 602, configured to determine target speed limit data of a road where a vehicle is located according to the EHP map data;
and a driving speed adjusting module 603, configured to obtain current driving data of the vehicle, and adjust a driving speed of the vehicle according to the target speed limit data and the current driving data.
In one embodiment of the present invention, the EHP map data includes first speed limit data; the speed limit data determination module 602 may include the following sub-modules:
the image identification data acquisition submodule is used for acquiring image identification data acquired when the vehicle runs; the image identification data comprises a current analysis limit index and second speed limit data;
the data judgment sub-module is used for judging whether first speed limit data in the EHP map data are the same as second speed limit data in the image identification data;
a first speed limit data determining submodule, configured to determine, if the first speed limit data is the same as the second speed limit data, that any one of the first speed limit data and the second speed limit data is a target speed limit data of a road where a vehicle is located;
and the second speed limit data determining submodule is used for determining the speed limit data of the road where the vehicle is located according to the current analysis limit index contained in the image identification data if the first speed limit data is different from the second speed limit data.
In an embodiment of the present invention, the target speed limit data of the road where the vehicle is located includes a target speed limit of the road where the vehicle is located and a target speed limit distance between a speed limit section for the target speed limit and the current position of the vehicle; the current travel data of the vehicle includes a current travel speed of the vehicle and an adaptive travel speed of the vehicle.
In one embodiment of the present invention, the driving speed adjustment module 603 may include the following sub-modules:
the target running speed determining submodule is used for determining a target running speed according to the speed limit data and the current running data;
and the running speed control submodule is used for linearly controlling the running speed of the vehicle according to the target running speed.
In one embodiment of the present invention, the target travel speed determination submodule may include the following units:
a first target driving speed determining unit, configured to determine whether the current driving speed is greater than the target speed limit, and if the current driving speed is greater than the target speed limit, determine that the target speed limit is a target driving speed;
a speed determination unit, configured to determine whether the adaptive driving speed is greater than or equal to the target speed limit if the current driving speed is less than or equal to the target speed limit;
a second target travel speed determination unit configured to determine that the target speed limit is a target travel speed if the adaptive travel speed is greater than or equal to the target speed limit;
a third target travel speed determination unit configured to determine that the adaptive travel speed is the target travel speed if the adaptive travel speed is less than the target limit speed.
In one embodiment of the present invention, the traveling speed control submodule may include the following units:
an optimal speed control distance generating unit for obtaining an optimal speed control distance by using the target running speed and the current running speed;
a target speed control distance determining unit for determining a target speed control distance for controlling the speed of the vehicle according to the optimal speed control distance and the target speed limit distance;
a running speed control unit for controlling the running speed of the vehicle to gradually accelerate or decelerate from a current running speed of the vehicle to the target running speed within the target speed control distance.
In one embodiment of the present invention, the target speed control distance determination unit may include the following sub-units:
the distance judging subunit is used for judging the size relationship between the optimal speed control distance and the target speed limit distance;
a first target speed control distance determining subunit, configured to determine, if the optimal speed control distance is greater than or equal to the target speed limit distance, that the target speed limit distance is the target speed control distance for controlling the speed of the vehicle;
and a second target speed control distance determining subunit, configured to, if the optimal speed control distance is smaller than the target speed limit distance, determine a size relationship between the optimal speed control distance and the target speed limit distance according to a preset time interval, and determine that the target speed limit distance is the target speed control distance for controlling the vehicle speed until the optimal speed control distance is equal to the target speed limit distance.
In one embodiment of the invention, the travel speed control unit may comprise the following sub-units:
an acceleration and deceleration change value operator unit, configured to calculate an acceleration and deceleration change value by using the target travel speed, the current travel speed of the vehicle, and the target speed control distance;
and a running speed control subunit, configured to set a latest current running speed of the vehicle according to a sum of the acceleration/deceleration change value and a current running speed of the vehicle during running of the vehicle, so as to control the running speed of the vehicle according to the set latest current running speed within the target speed control distance.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
the vehicle speed limit control method comprises the vehicle speed limit control device, a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the vehicle speed limit control method embodiment is realized, the same technical effect can be achieved, and the repeated description is omitted for avoiding the repetition.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program realizes each process of the control method for vehicle speed limit, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts in the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention 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 invention 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 the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. 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 terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means 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 terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means 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 terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is provided for a control method for vehicle speed limit and a control device for vehicle speed limit provided by the present invention, and the present document applies specific examples to illustrate the principle and the implementation manner of the present invention, and the above description of the embodiments is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (11)

1. A control method for vehicle speed limit is characterized by being applied to a vehicle-mounted system, and the method comprises the following steps:
acquiring map data; the map data comprises EHP map data;
determining target speed limit data of a road where a vehicle is located according to the EHP map data;
and acquiring the current running data of the vehicle, and adjusting the running speed of the vehicle according to the target speed limit data and the current running data.
2. The method of claim 1, wherein the EHP map data includes first speed limit data; the determining of the target speed limit data of the road where the vehicle is located according to the EHP map data comprises the following steps:
acquiring image identification data acquired when a vehicle runs; the image identification data comprises a current analysis limit index and second speed limit data;
judging whether first speed limit data in the EHP map data is the same as second speed limit data in the image identification data;
if the first speed limit data is the same as the second speed limit data, determining that any one of the first speed limit data or the second speed limit data is the target speed limit data of the road where the vehicle is located;
and if the first speed limit data is different from the second speed limit data, determining target speed limit data of a road where the vehicle is located according to the current analysis limit index contained in the image identification data.
3. The method according to claim 1, characterized in that the target speed limit data of the road on which the vehicle is located comprises a target limit speed of the road on which the vehicle is located and a target speed limit distance of a speed limit section for which the target limit speed is specific to the current position of the vehicle; the current travel data of the vehicle includes a current travel speed of the vehicle and an adaptive travel speed of the vehicle.
4. The method of claim 3, wherein said adjusting the travel speed of the vehicle based on the target speed limit data and the current travel data comprises:
and determining a target running speed according to the target speed limit data and the current running data, and linearly controlling the running speed of the vehicle according to the target running speed.
5. The method of claim 4, wherein said determining a target travel speed based on said target speed limit data and said current travel data comprises:
judging whether the current running speed is greater than the target limit speed, and if the current running speed is greater than the target limit speed, determining that the target limit speed is the target running speed;
if the current running speed is less than or equal to the target limit speed, judging whether the self-adaptive running speed is greater than or equal to the target limit speed;
if the self-adaptive running speed is greater than or equal to the target limit speed, determining the target limit speed as a target running speed;
and if the self-adaptive running speed is smaller than the target limit speed, determining that the self-adaptive running speed is the target running speed.
6. The method of claim 4, wherein said linearly controlling the travel speed of the vehicle in accordance with the target travel speed comprises:
obtaining an optimal speed control distance by adopting the target running speed and the current running speed;
determining a target speed control distance aiming at the speed of the vehicle to be controlled according to the optimal speed control distance and the target speed limit distance;
and controlling the running speed of the vehicle to gradually accelerate or decelerate from the current running speed of the vehicle to the target running speed within the target speed control distance.
7. The method of claim 6, wherein determining a target speed control distance for controlling vehicle speed based on the optimal speed control distance and the target speed limit distance comprises:
judging the size relationship between the optimal speed control distance and the target speed limit distance;
if the optimal speed control distance is greater than or equal to the target speed limit distance, determining the target speed limit distance as the target speed control distance for controlling the speed of the vehicle;
if the optimal speed control distance is smaller than the target speed limit distance, judging the size relationship between the optimal speed control distance and the target speed limit distance according to a preset time interval, and determining the target speed limit distance as the target speed control distance aiming at the speed of the controlled vehicle when the optimal speed control distance is equal to the target speed limit distance.
8. The method of claim 6, wherein the controlling the travel speed of the vehicle to be within the target speed control distance, gradually accelerating and decelerating from a current travel speed of the vehicle to the target travel speed, comprises:
calculating to obtain an acceleration and deceleration change value by adopting the target running speed, the current running speed of the vehicle and the target speed control distance;
and setting the latest current running speed of the vehicle according to the sum of the acceleration and deceleration change value and the current running speed of the vehicle during running of the vehicle, so that the running speed of the vehicle is controlled within the target speed control distance according to the set latest current running speed.
9. A control device for limiting the speed of a vehicle is characterized by being applied to a vehicle-mounted system, and the device comprises:
the map data acquisition module is used for acquiring map data; the map data comprises EHP map data;
the speed limit data determining module is used for determining target speed limit data of a road where a vehicle is located according to the EHP map data;
and the running speed adjusting module is used for acquiring the current running data of the vehicle and adjusting the running speed of the vehicle according to the target speed limit data and the current running data.
10. A vehicle, characterized by comprising: a control apparatus for vehicle speed limit according to claim 9, a processor, a memory, and a computer program stored on the memory and capable of being executed on the processor, the computer program, when executed by the processor, implementing the steps of the control method for vehicle speed limit according to any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for controlling a speed limit of a vehicle according to any one of claims 1 to 8.
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US20220176957A1 (en) * 2020-12-09 2022-06-09 Aptiv Technologies Limited Indirect Verification of Speed Limits Based on Contextual Information For Autonomous and Semi-Autonomous Driving Systems
CN114234986A (en) * 2021-10-29 2022-03-25 广州小鹏自动驾驶科技有限公司 Map data processing method and device

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Application publication date: 20201208