CN112937573A - Method, device and system for determining safe speed - Google Patents

Method, device and system for determining safe speed Download PDF

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Publication number
CN112937573A
CN112937573A CN201911262164.0A CN201911262164A CN112937573A CN 112937573 A CN112937573 A CN 112937573A CN 201911262164 A CN201911262164 A CN 201911262164A CN 112937573 A CN112937573 A CN 112937573A
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information
road
speed
safe speed
curvature radius
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CN201911262164.0A
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Chinese (zh)
Inventor
周伟
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN201911262164.0A priority Critical patent/CN112937573A/en
Priority to PCT/CN2020/134245 priority patent/WO2021115223A1/en
Publication of CN112937573A publication Critical patent/CN112937573A/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
    • 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
    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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

Abstract

The embodiment of the application discloses a method for determining safe speed, an intelligent vehicle can determine curvature radius information of a road where the intelligent vehicle is located, determine the safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed, and further limit or prompt the running state of the intelligent vehicle according to the safe speed. By adopting the method, the safe speed of the moving object in the curve driving process can be determined, and the safety of the moving object in the curve driving process can be improved.

Description

Method, device and system for determining safe speed
Technical Field
The present invention relates to the field of electronic technologies, and in particular, to a method, an apparatus, and a system for determining a safe speed.
Background
With the development of electronic technology, the driving process of a moving object (such as a mobile robot, a smart car, etc.) can be controlled by a control system to ensure the mobility and safety of the moving object. For example, in automatic driving and assistant driving, the smart car needs to detect the surrounding environment, and plan and make decisions about the driving path and the driving speed according to the detected information, so as to complete automatic driving and assistant driving. One function that may be employed in current autonomous driving and assisted driving is Adaptive Cruise Control (ACC). The ACC system collects road information and vehicle speed signals through a sensor, and aims to control the intelligent vehicle to keep constant speed and distance with a front vehicle when the intelligent vehicle follows the vehicle or runs at cruising speed. However, how to ensure the safety of the moving object when driving on a curve becomes a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a method for determining a safe speed, which can improve the safety of a moving object when the moving object runs on a curve.
In a first aspect, an embodiment of the present application provides a method for determining a safe speed, where, for example, a mobile object is implemented, and the mobile object determines curvature radius information of a road where the mobile object is located. And determining a safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed, wherein the safe speed is a speed which runs on the road with the lowest safety index. By adopting the method, when the moving object runs on a curve, the corresponding safe speed can be determined according to the curvature radius of the road, and the safety of the moving object during running on the curve can be improved.
In one possible design, the radius of curvature information is determined from road detection information that includes at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one possible design, the curvature radius information is obtained by fusing at least two types of road detection information.
In one possible design, during the fusion process, the boundary information of the road and/or the lane line information of the road is a first weight, and the travel track information of the front moving object and/or the travel track information of the side moving object is a second weight, and the first weight is higher than the second weight.
In one possible design, the travel speed limiting device determines a curve equation according to the road detection information;
and determining the curvature radius information according to the curve equation.
In one possible design, the correspondence is determined according to a relationship between a speed and a minimum radius of a circular curve in a road design specification.
In one possible design, the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.
In one possible embodiment, the device for determining a safe speed may also adjust the driving state as a function of the safe speed and/or output a first warning message, which is used to indicate that the current driving speed has exceeded the safe speed. After determining the safe speed, the device for determining the safe speed may further adjust the driving state of the moving object and/or output the first prompt information to ensure the safety of the moving object driving in the curve.
In one possible design, if the current driving road is determined to be a straight road, the driving state is adjusted according to the historical driving speed and/or second prompt information is output, wherein the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed, and the second prompt information is used for prompting the user to remove the limit of the safe speed.
In one possible design, the road detection information may be obtained by sensors including one or more of millimeter wave radar, laser radar, ultrasonic radar, and vision sensors.
In a second aspect, an embodiment of the present application provides a device for determining a safe speed, including:
the processing unit is used for determining the curvature radius information of the road;
the processing unit is further configured to determine a safe speed corresponding to the curvature radius information according to a preset corresponding relationship between the curvature radius and the speed, where the safe speed is a speed at which the vehicle travels on the road with a lowest safety index;
and the transceiving unit is used for outputting the safe speed.
In one possible design, the radius of curvature information is determined from road detection information that includes at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one possible design, the transceiver unit is further configured to receive the curvature radius information.
In one possible design, the transceiver unit is further configured to output a first prompt message, where the first prompt message is used to prompt that the current driving speed exceeds the safe speed.
In a possible design, the transceiver unit is further configured to output a second prompt message, where the second prompt message is used to prompt to release the limitation of the safe speed.
In one possible embodiment, the device for limiting the travel speed further comprises a control unit; the control unit is used for adjusting the running state according to the safe speed.
In one possible design, the processing unit is further configured to:
determining that the current driving road is a straight road;
the control unit is further configured to adjust a driving state according to a historical driving speed, which is a driving speed before the driving state is adjusted according to the safe speed.
In a third aspect, an embodiment of the present application provides a device for determining a safe speed, including a processor, coupled with a communication interface, such that the processor is configured to read an instruction to perform the following method:
determining the curvature radius information of the road;
and determining a safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed, wherein the safe speed is a speed which runs on the road with the lowest safety index.
In one possible design, the radius of curvature information is determined from road detection information that includes at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one possible design, the processor is further configured to receive the radius of curvature information via a communication interface.
In one possible design, the processor is further configured to output a first prompt message through the communication interface, the first prompt message being used to prompt that the current driving speed has exceeded the safe speed.
In one possible design, the processor is further configured to output a second prompt message through the communication interface, the second prompt message being used to prompt the release of the limit on the safe speed.
In one possible design, the processor is further configured to adjust the driving state based on the safe speed.
In one possible design, the processor is further configured to determine that the current driving road is a straight road;
and adjusting the running state according to a historical running speed, wherein the historical running speed is the running speed before the running state is adjusted according to the safe speed.
In a fourth aspect, an embodiment of the present application provides a control system for a sensor, including: processing means, control means and sensors, wherein,
the processing device is used for determining the curvature radius information of the road;
the processing device is further configured to determine a safe speed corresponding to the curvature radius information according to a preset corresponding relationship between the curvature radius and the speed, where the safe speed is a speed at which the vehicle travels on the road with the lowest safety index;
and the control device is used for adjusting the running state according to the safe speed.
In one possible design, the radius of curvature information is determined from road detection information that includes at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one possible design, the control system of the sensor further comprises a transceiver device; the transceiver is used for receiving the curvature radius information.
In one possible design, the transceiver is further configured to output a first prompt message, where the first prompt message is used to prompt that the current driving speed exceeds the safe speed.
In a possible design, the transceiver is further configured to output a second prompt message, where the second prompt message is used to prompt the user to release the limit of the safe speed.
In one possible embodiment, the control device is used to adjust the driving state as a function of the safety speed.
In one possible design, the processing device is further configured to determine that the current driving road is a straight road;
the control device is also used for adjusting the running state according to the historical running speed, wherein the historical running speed is the running speed before the running state is adjusted according to the safe speed.
In a fifth aspect, the present embodiment provides an intelligent vehicle, which includes the device for determining safe speed provided in the second aspect, or includes the device for determining safe speed provided in the third aspect, or includes a control system of the sensor provided in the fourth aspect.
In a sixth aspect, the present application provides a mobile robot, where the mobile robot includes the device for determining a safe speed provided in the second aspect, or includes the device for determining a safe speed provided in the third aspect, or includes a control system of the sensor provided in the fourth aspect.
In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which includes a program or instructions, when the program or instructions are executed on a computer, the program or instructions cause the computer to perform the method described in the first aspect or any of the possible implementation manners of the first aspect.
In an eighth aspect, an embodiment of the present application provides a chip or a chip system, where the chip or the chip system includes at least one processor and an interface, the interface and the at least one processor are interconnected by a line, and the at least one processor is configured to execute a computer program or instructions to perform the method described in any one of the possible implementation manners of the first aspect to the first aspect.
The interface in the chip may be an input/output interface, a pin, a circuit, or the like.
The system-on-chip in the above aspect may be a system-on-chip (SOC), a baseband chip, and the like, where the baseband chip may include a processor, a channel encoder, a digital signal processor, a modem, an interface module, and the like.
In one possible implementation, the chip or chip system described above in this application further comprises at least one memory having instructions stored therein. The memory may be a storage unit inside the chip, such as a register, a cache, etc., or may be a storage unit of the chip (e.g., a read-only memory, a random access memory, etc.).
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below.
Fig. 1a is a schematic view of a driving scene of an intelligent vehicle according to an embodiment of the present application;
fig. 1b is a schematic view of a driving scene of another intelligent vehicle according to an embodiment of the present application;
fig. 1c is a schematic view of a driving scene of another intelligent vehicle according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for determining a safe speed according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of another method for determining a safe speed according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of another method for determining a safe speed according to an embodiment of the present application;
fig. 5 is a schematic diagram of determining a reference moving object according to an embodiment of the present application;
fig. 6 is a schematic diagram of another method for determining a reference moving object according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a device for determining a safe speed according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a device for determining a safe speed according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a control system of a sensor according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Prior to the description of the embodiments of the present application, the related background art is first introduced.
With the development of electronic technology, the driving process of the moving object can be controlled by a control system to ensure the mobility and safety of the moving object during the driving process. The moving object according to the embodiment of the present application may include, but is not limited to, a mobile robot, a smart car, and the like. In the case of an intelligent vehicle, the intelligent vehicle can sense the surrounding environment through a sensor in automatic driving and assistant driving. The sensors may include, but are not limited to, millimeter wave radar, laser radar, ultrasonic radar, vision sensors, and the like. The intelligent vehicle can detect and classify the surrounding environment of the vehicle through the sensor, and transmit the information to the planning and control module to form the decision of the future driving path of the vehicle, and finally the decision is executed through the actuator to complete the whole process of auxiliary driving or automatic driving.
An Adaptive Cruise Control (ACC) system is an intelligent automatic control system, and aims to assist a driver to keep constant speed and distance with a vehicle ahead in the driving process, so as to provide better driving experience. Among them, the ACC system may continuously scan a road ahead of a vehicle through a sensor to secure a distance to the vehicle ahead, while collecting a vehicle speed signal through a sensor to maintain a constant driving speed.
In an example, taking a smart car as an example, a driving scene of the smart car 1 is shown in fig. 1 a. In the driving scenario shown in fig. 1a, there is no other intelligent vehicle in front of or at the side of the intelligent vehicle 1, and the intelligent vehicle 1 is driving on the lane 1. The lane 1 is a curve, and in the lane 1 shown in fig. 1a, the intelligent vehicle 1 travels in the direction of the arrow shown in fig. 1 a. For example, in the driving scenario shown in fig. 1a, the ACC system may be used to control the smart car 1 to keep driving at a speed of 80 kilometers per hour (km/h) on the lane 1.
In one example, during the driving of the moving object, information of other moving objects may also be detected. Another driving scenario of the smart car 1 is shown in fig. 1 b. In the driving scene shown in fig. 1b, the intelligent vehicle 2 is present in front of the intelligent vehicle 1, the intelligent vehicle 2 and the intelligent vehicle 1 both drive on the lane 1, and the driving directions of the intelligent vehicle 2 and the intelligent vehicle 1 are the same and both drive along the arrow direction shown in fig. 1 b. For the sake of easy distinction, the present embodiment introduces the concept of a target moving object and a reference moving object. The target moving object refers to a moving object with limited traveling speed, such as the smart car 1 in fig. 1 b. The reference moving object may comprise a vehicle in front of the road on which the target moving object is located and/or a vehicle in the lane adjacent to the target moving object, such as the smart car 2 in fig. 1 b. In the driving scenario shown in fig. 1b, the intelligent vehicle 1 may control the following vehicle by using the ACC system, and maintain the driving speed at 80km/h and the following distance from the intelligent vehicle 2 at 45 m.
Alternatively, another driving scenario of the intelligent vehicle 1 is shown in fig. 1 c. Note that, compared to the driving scenario shown in fig. 1b, the driving scenario shown in fig. 1c also includes a smart vehicle 3 on the side of the smart vehicle 1, the smart vehicle 3 drives in a lane 2, and the lane 2 and the lane 1 are adjacent lanes. In the driving scenario shown in fig. 1c, the smart car 3 is driving in the direction of the arrow shown in fig. 1 c. It is understood that the smart car 3 is also a reference moving object of the smart car 1. It should be noted that the front moving object and/or the side moving object described in this embodiment may be one or more, for example, in the driving scene shown in fig. 1c, other smart vehicles driving in the lane 1 or other smart vehicles driving in the lane 2 may also be included, and this embodiment is not limited.
In the driving scenes shown in fig. 1a to 1c, the moving object is the smart car 1, and the smart car 1 is driving on the lane 1. When the smart car 1 travels on a curve, if the curvature radius of the curve is too small and the cruising speed of the smart car 1 is not controlled, a safety accident may be caused. In order to avoid the occurrence of a safety accident, embodiments of the present application provide a method for determining a safety speed, which can improve the safety of a moving object when the moving object travels in a curve.
The determination method of the safe speed may be performed by a mobile object, that is, an execution subject of the determination method of the safe speed may be a mobile robot, a smart car, or the like. Optionally, the determination method of the safe speed may also be executed by a chip, a processor, or a determination device of the safe speed, where the chip, the processor, or the determination device of the safe speed may be installed in the moving object, so that the determination method of the safe speed provided by the embodiment of the present application is executed by the chip, the processor, or the determination device of the safe speed, so as to improve the safety of the moving object when the moving object travels in a curve. The following embodiments are illustrated with the executing agent being an intelligent vehicle.
The sensor may be installed in an execution body of the determination method of the safe speed, for example, the sensor may be installed in a front portion of the smart car to acquire road detection information. Alternatively, the sensor may be independent of the main body of the determination method of the safe speed, for example, the sensor may be installed on both sides of the road, and may transmit the acquired road detection information to the smart car. The present embodiment is not limited.
The following description will be made in conjunction with specific embodiments.
An embodiment of the present application provides a method for determining a safe speed, please refer to fig. 2, which includes the following steps:
s201, the intelligent vehicle determines the curvature radius information of the road.
The curvature radius information is used for indicating the degree of curvature of the road, wherein the curvature radius information may indicate the curvature radius of the road on which the target moving object is located, and may also indicate the curvature radius corresponding to the travel track of the reference moving object. For example, in the driving scenario shown in fig. 1a, the curvature radius information indicates the curvature radius of the lane 1. For another example, in the driving scenario shown in fig. 1b, the curvature radius information includes the curvature radius of the lane 1 and the curvature radius corresponding to the driving trajectory of the smart car 2.
In one example, the curvature radius information may be determined from road detection information. The road detection information may be detected by a sensor. For example, the sensors mounted on the smart car 1 may perform fixed-point detection on the boundary of the road (e.g., guard rails on both sides of the road) and acquire sensor data of a plurality of detection points. Alternatively, for the target moving object, the road detection information may include, but is not limited to, boundary information of the road and/or lane line information of the road. The road is a road where the target moving object is located, for example, the road is a lane 1 where the smart car 1 is located in the driving scene shown in fig. 1 a. The boundary information of the road may include, but is not limited to, detection information of a guardrail at the roadside, detection information of a street lamp at the roadside, detection information of a curb at the roadside, and the like. For example, the vision sensor mounted on the smart car 1 may detect a fixed point (a position of each street lamp beside the road as shown in fig. 1 a) during the driving of the smart car 1, thereby acquiring detection information of each street lamp. The lane line information of the road may include, but is not limited to, travel track information of the target moving object, detection information of a lane line of the road, and the like. For example, the vision sensor mounted on the smart car 1 may perform detection at certain time intervals (e.g., 50 milliseconds) during the driving of the smart car 1, thereby acquiring the detection information of the lane line of the road.
Alternatively, when there is a reference moving object, the road detection information may include, but is not limited to, boundary information of the road, lane line information of the road, travel track information of a front moving object, and travel track information of a side moving object. Both the front moving object (the smart car 2 shown in fig. 1 c) and the side moving object (the smart car 3 shown in fig. 1 c) are reference moving objects. It is understood that the road detection information is acquired by the road detection by the target moving object. Then, for the front moving object and/or the side moving object, the target moving object can only track the traveling locus of the front moving object and/or the side moving object, and acquire the traveling locus information of the front moving object and/or the side moving object. For example, a sensor mounted on the smart car 1 may track the smart car 2 and acquire the information of the driving track of the smart car 2. Optionally, the front moving object is preferably a vehicle driving in front on the lane where the smart vehicle is located. For example, in the driving scene shown in fig. 1b, the smart car 1 is preferably the smart car 2 as the front moving object. The side moving object is preferably a vehicle running on a lane adjacent to the smart vehicle. For example, in the driving scene shown in fig. 1c, the smart car 1 is preferably the smart car 3 as the side moving object.
In one example, the curvature radius information may be obtained by fusing at least two types of road detection information. The fusion processing is to combine a plurality of road detection data detected by the sensor according to different weights to obtain the curvature radius information of the road. In the fusion processing, the boundary information of the road and/or the lane line information of the road is a first weight, the travel track information of the front moving object and/or the travel track information of the side moving object is a second weight, and the first weight is higher than the second weight.
S202, the intelligent vehicle determines the safe speed corresponding to the curvature radius information according to the preset corresponding relation between the curvature radius and the speed.
After the intelligent vehicle determines the curvature radius indicated by the curvature radius information of the road, the safe speed corresponding to the curvature radius can be determined according to the preset corresponding relation between the curvature radius and the speed. The safety speed is the speed of driving on the road at the lowest safety index, and the driving at the lowest safety index represents the critical state that the intelligent vehicle cannot have safety accidents on the road. For example, when the safe speed is 80km/h, the maximum driving speed indicating that the intelligent vehicle 1 does not have a safety accident on the lane 1 is 80 km/h. When the vehicle is driven at a speed exceeding 80km/h, a safety accident (such as collision with a road edge during running on a curve) may occur.
In one example, the preset corresponding relationship between the curvature radius and the speed is determined according to the relationship between the speed and the minimum radius of the circular curve in the highway design specification. For example, a speed versus minimum radius of a circular curve can be represented by table 1.
Table 1: relation table of speed and minimum radius of circular curve
Figure BDA0002311862710000071
The speed in table 1 indicates the maximum speed for safe driving at the corresponding minimum radius of the circular curve, which means the radius of curvature. For example, if the curvature radius of the lane 1 is 700m, the safe speed of the smart car 1 when driving in a curve in the lane 1 is 100 km/h. It is understood that table 1 described in this embodiment is only an example of a road condition, and the corresponding relationship between the speed and the minimum radius of the circular curve may be different in different regions or different road conditions, and this embodiment is not limited.
Optionally, if the curvature radius indicated by the curvature radius information is not in the preset correspondence between the curvature radius and the speed, the speed corresponding to the reference curvature radius may be searched in the preset correspondence between the curvature radius and the speed as the corresponding safe speed. Wherein the reference radius of curvature is smaller than the radius of curvature and the difference between the reference radius of curvature and the radius of curvature is smaller than the differences between the other radii of curvature and the radius of curvature. For example, when the curvature radius is 800m, the velocity corresponding to the minimum radius of the circular curve of 800m cannot be directly found in table 1. The speed 100km/h corresponding to the minimum radius 700m of the circular curve having the minimum difference of 800m is taken as the corresponding safe speed. In one implementation, the correspondence between the minimum radius and the speed of other circular curves can also be generated on the basis of table 1. For example, table 1 is updated to table 2 by interpolation based on table 1 with a certain numerical relationship.
Table 2: updated speed and circular curve minimum radius relation table
Figure BDA0002311862710000072
Wherein, the original table 1 does not have the minimum radius of the circular curve of 300m and the corresponding speed of 70km/h, and the minimum radius of the circular curve of 300m and the corresponding speed of 70km/h can be inserted into the original table 1 according to the minimum radius of two adjacent circular curves (400m and 200m) and the corresponding speed of two adjacent circular curves (80km/h and 60km/h), so as to obtain a new table 2. It is understood that table 2 described in this embodiment is only an example of one interpolation, and a plurality of interpolations may be added, which is not limited in this embodiment.
Optionally, if the curvature radius indicated by the curvature radius information is not in the preset correspondence between the curvature radius and the speed, the intelligent vehicle may determine the safe speed according to the preset functional relationship that the curvature radius indicated by the curvature radius information and the safe speed satisfy. For example, a plurality of curvature radii (e.g., curvature radii of different roads, curvature radii corresponding to trajectories of different smart vehicles, etc.) may be collected in advance through a sensor, and a plurality of safe speeds at which a smart vehicle does not have a safety accident when traveling on the roads corresponding to the plurality of curvature radii may be determined through a large amount of experimental data. Then, a functional relationship that the plurality of curvature radii and the plurality of safety speeds satisfy may be determined by a data fitting method, for example, the functional relationship that the plurality of curvature radii and the plurality of safety speeds satisfy corresponds to a quadratic equation, and the formula of the specific quadratic equation is not limited in this embodiment.
The embodiment of the application provides a method for determining safe speed, and an intelligent vehicle can determine curvature radius information of a road where the intelligent vehicle is located, and determine the safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed. Therefore, the method can determine the safe speed of the moving object when the moving object runs on the curve, and can improve the safety of the moving object when the moving object runs on the curve.
In conjunction with the method for determining the safe speed shown in fig. 2, the embodiment of the present application provides another method for determining the safe speed, please refer to fig. 3. The method for determining the safe speed can be applied to a driving scene as shown in FIG. 1a, and comprises the following steps:
s301, the intelligent vehicle acquires road detection information.
In the driving process, the intelligent vehicle can continuously detect the road environment through the sensor so as to acquire road detection information. In the driving scenario shown in fig. 1a, the road detection information may include, but is not limited to, boundary information of the road and/or lane line information of the road. For the boundary information of the road and the lane line information of the road, please refer to the corresponding description in the embodiment shown in fig. 2, which is not described herein again. It should be noted that the road detection information may include detection information of a plurality of detection points, for example, the lane line information of the road includes detection information of a plurality of fixed points, and the detection information of a plurality of fixed points may form a curve.
And S302, the intelligent vehicle determines the curvature radius information of the road.
After the road detection information is acquired, the intelligent vehicle can determine the curvature radius information of the road according to the road detection information. In the present embodiment, the curvature radius information indicates the curvature radius of the road on which the smart car is located, for example, the curvature radius information indicates the curvature radius of the lane 1 on which the smart car 1 is located.
In one example, the curvature radius information of the road may be determined according to a curve equation, including the following steps:
determining a curve equation according to the road detection information;
and determining the curvature radius information according to the curve equation.
The curve equation is an example, and may be a clothoid equation, and this embodiment is not limited. For example, the road detection information may include detection information of a plurality of detection points, and the data fitting may be performed on the detection information of the plurality of detection points to generate a cubic equation corresponding to the road curve as follows:
y(x)＝c0+c1x+c2x2+c3x3
wherein, c2Is the coefficient of the second order term of the above-mentioned third order equation, and the coefficient is related to the curvature radius of the road. Specifically, the relationship between the coefficient and the curvature radius is as follows:
c2＝1/2*Rr
wherein R isrRepresenting the radius of curvature of the road curve. Then, according to the cubic equation corresponding to the road curve, the curvature radius information of the road can be determined, so as to determine the curvature radius indicated by the curvature radius information.
And S303, determining the safe speed corresponding to the curvature radius information by the intelligent vehicle according to the preset corresponding relation between the curvature radius and the speed. S303 of this embodiment may refer to S202 of the embodiment shown in fig. 2, and is not described herein again.
S304, the intelligent vehicle adjusts the driving state and/or outputs first prompt information according to the safe speed.
After the intelligent vehicle determines the safe speed, the driving state of the intelligent vehicle can be adjusted according to the safe speed, and/or first prompt information is output. In one example, if the current driving speed of the smart car is greater than the safe speed, the driving speed may be adjusted according to the safe speed. For example, the smart car 1 is set to a cruising speed of 80 km/h. When driving to a curve, if the safe speed corresponding to the curvature radius of the curve is 70km/h, the driving speed of the intelligent vehicle 1 is reduced to be less than or equal to the safe speed (such as 60 km/h). Optionally, if the current driving speed of the intelligent vehicle is greater than the safe speed, first prompt information can be output, and the first prompt information is used for prompting that the current driving speed exceeds the safe speed. According to the first prompt information, whether the driving state of the mobile object is adjusted or not can be determined. For example, the intelligent vehicle may play a warning tone in the vehicle to prompt the driver that the current driving speed exceeds the safe speed, and the driver may determine whether to adjust the driving speed.
In one example, during travel of the smart vehicle, the travel speed is reduced at a safe speed when the smart vehicle travels to a curve. When the intelligent vehicle drives away from the curve and runs on the straight road, the running state can be readjusted. Specifically, the method can comprise the following steps:
the intelligent vehicle determines that the current driving road is a straight road;
and the intelligent vehicle adjusts the running state and/or outputs second prompt information according to the historical running speed.
The intelligent vehicle can continuously detect road information through the sensor, and after the current driving road is determined to be a straight road, the driving speed can be adjusted to the historical driving speed or the cruising speed set by an ACC system. Wherein the historical driving speed is a driving speed before the driving state is adjusted according to the safe speed. For example, the smart car 1 is set to a cruising speed of 80km/h, i.e., a historical traveling speed of 80 km/h. When driving to a curve, the driving speed of the smart car 1 is reduced to 60 km/h. If the intelligent vehicle 1 is driven away from the curve and the current driving road is determined to be a straight road, the driving speed can be adjusted to 80 km/h. Optionally, if it is determined that the current driving road is a straight road, second prompt information may be output, where the second prompt information is used to prompt to release the limit of the safe speed. Based on the second prompt information, it may be determined whether to release the restriction of the safe speed.
The embodiment of the application provides a method for determining safe speed, an intelligent vehicle can acquire road detection information, determine curvature radius information of a road where the intelligent vehicle is located, and determine the safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed. The driving state can be adjusted and/or prompt information can be output according to the safe speed. Therefore, the method can determine the safe speed of the moving object when the moving object runs on the curve, and adjust the running state and/or output the prompt information according to the safe speed, so that the safety of the moving object when the moving object runs on the curve can be improved.
In conjunction with the method for determining the safe speed shown in fig. 2, the embodiment of the present application provides another method for determining the safe speed, please refer to fig. 4. The method for determining the safe speed can be applied to the driving scene shown in fig. 1b and/or fig. 1c, and comprises the following steps:
s401, the intelligent vehicle acquires boundary information of a road and/or lane line information of the road.
In the driving scenario shown in fig. 1b and/or 1c, the road detection information may include, but is not limited to, boundary information of the road, lane line information of the road, driving track information of a front moving object, driving track information of a side moving object, and the like. For the boundary information of the road and the lane line information of the road, please refer to the corresponding description in the embodiment shown in fig. 2, which is not repeated herein.
S402, the intelligent vehicle acquires the running track information of the front moving object and/or the running track information of the side moving object.
If a plurality of reference moving objects are detected, processing such as screening of the travel track information of the plurality of reference moving objects is required. Optionally, in a driving scene with a lane line, a corresponding lane line equation may be determined according to the lane line information of the road. And then substituting the longitudinal distance between the reference moving object and the target moving object into the corresponding lane line equation for each reference moving object, and solving to obtain the transverse distance of the lower boundary point of the longitudinal distance between the reference moving object and the target moving object. And comparing the transverse distance of the lower boundary point with the transverse distance of the target moving object, and if a preset condition is met (if the distance difference is smaller than a preset threshold), determining that the reference moving object and the target moving object belong to the same lane. For example, referring to fig. 5, the smart car 1 is a target moving object, and the smart car 2 and the smart car 3 are detected during the driving process. And substituting the longitudinal distance between the intelligent vehicle 2 and the intelligent vehicle 1 into the corresponding lane line equation according to the detected running track information of the intelligent vehicle 2 to obtain the transverse distance 2. And substituting the longitudinal distance between the intelligent vehicle 3 and the intelligent vehicle 1 into the corresponding lane line equation according to the detected running track information of the intelligent vehicle 3 to obtain the transverse distance 3. Lateral distance 2 is compared to lateral distance 1, and lateral distance 3 is compared to lateral distance 1. And if the distance difference between the transverse distance 2 and the transverse distance 1 is smaller than a preset threshold value, but the distance difference between the transverse distance 3 and the transverse distance 1 is larger than the preset threshold value, determining that the intelligent vehicle 2 is a forward moving object, and determining the corresponding curvature radius according to the running track information of the intelligent vehicle 2. It should be noted that the above processing method is suitable for the case of a curve having a large radius of curvature. For the case of a curve with a smaller curvature radius, the geometric relationship processing of the boundary points of the lane lines needs to be further performed, which is not described herein again.
Optionally, in a driving scene without lane lines, the intelligent vehicles may perform screening according to driving tracks of the plurality of intelligent vehicles. For example, if the smart car detects a plurality of front moving objects, the vehicle moving postures of the plurality of front moving objects are determined according to the traveling locus detection data of the plurality of front moving objects. Referring to fig. 6, the smart car 1 detects the smart car 2 and the smart car 3 during the driving process. Wherein, the intelligent vehicle 1, the intelligent vehicle 2 and the intelligent vehicle 3 all run along the direction shown by the arrow in fig. 6. By analyzing the running track information of the intelligent vehicle 2 and the running track information of the intelligent vehicle 3, the vehicle moving posture of the intelligent vehicle 2 keeps going straight, and the vehicle moving posture of the intelligent vehicle 3 deviates to the right side of the running direction, so that the intelligent vehicle 1 can use the intelligent vehicle 2 as a front moving vehicle, and determine the corresponding curvature radius according to the running track information of the intelligent vehicle 2.
It should be noted that S401 and S402 are only a labeling sequence, and a specific execution sequence is not limited in this embodiment, for example, the smart car may execute S401 after executing S402, and for example, the smart car may execute S401 and S402 simultaneously.
And S403, the intelligent vehicle performs fusion processing on the road detection information to determine the curvature radius information of the road.
The boundary information of the road and the lane line information of the road include a curvature radius obtained by road detection, and have a higher weight. The traveling track information of the front moving object and/or the traveling track information of the side moving object correspond to the curvature radius of the traveling track, and the curvature radius of the traveling road can be only partially reflected.
In one example, when the road detection information is subjected to the fusion processing, the following formula may be adopted:
Figure BDA0002311862710000101
wherein R represents curvature radius information of the road obtained after fusion processing, and RiDenotes the i-th radius of curvature, PiAnd weight information corresponding to the ith curvature radius is shown. It is understood that the road detection information includes n curvature radii, 1 ≦ i ≦ n. For example, R1Radius of curvature, R, corresponding to boundary information of a road1750m, its weight P1Is 1.5. R2Radius of curvature, R, corresponding to lane line information of a road2700m, its weight P2Is 1. R3Radius of curvature, R, corresponding to travel track information of a forward moving object3650m, its weight P3Is 0.5. Then, according to the above formula, the curvature radius of the road obtained after the fusion process is 720 m. It should be noted that the fusion processing method is only an example, and other calculation methods may also be used to obtain the fused data, which is not limited in this embodiment.
S404, the intelligent vehicle determines the safe speed corresponding to the curvature radius information according to the preset corresponding relation between the curvature radius and the speed. S404 of this embodiment may refer to S202 of the embodiment shown in fig. 2, and is not described herein again.
S405, the intelligent vehicle adjusts the driving state and/or outputs first prompt information according to the safe speed. S405 of this embodiment may refer to S304 of the embodiment shown in fig. 3, and is not described herein again.
The embodiment of the application provides a method for determining safe speed, an intelligent vehicle can acquire road detection information, determine curvature radius information of a road where the intelligent vehicle is located, and determine the safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed. The driving state can be adjusted and/or prompt information can be output according to the safe speed. By adopting the method, the safe speed of the moving object when the moving object runs on the curve can be determined, and the running state is adjusted and/or the prompt information is output according to the safe speed, so that the safety of the moving object when the moving object runs on the curve can be improved.
The related devices and systems according to the embodiments of the present application are described in detail below with reference to fig. 7 and 9.
The embodiment of the present application provides a schematic structural diagram of a device for determining a safe speed, and as shown in fig. 7, the device 700 for determining a safe speed may be used to implement the method for determining a safe speed provided in the embodiment of the present application. The device 700 for determining the safe speed may include:
the processing unit 701 is used for determining the curvature radius information of the road;
the processing unit 701 is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between the curvature radius and the speed, where the safe speed is a speed at which the vehicle travels on the road with a lowest safety index;
a transceiving unit 702 for outputting the safe speed.
In one implementation, the radius of curvature information is determined from road detection information including at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one implementation, the curvature radius information is obtained by fusing at least two types of road detection information.
In one implementation, in the fusion process, the boundary information of the road and/or the lane line information of the road is a first weight, the travel track information of the front moving object and/or the travel track information of the side moving object is a second weight, and the first weight is higher than the second weight.
In one implementation, the processing unit 701 is further configured to:
determining a curve equation according to the road detection information;
and determining the curvature radius information according to the curve equation.
In one implementation, the correspondence is determined according to a relationship between a speed and a minimum radius of a circular curve in a highway design specification.
In one implementation, the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.
In one implementation, the transceiver 702 is further configured to receive the curvature radius information.
In one implementation, the transceiver unit 702 is further configured to output a first prompt message, where the first prompt message is used to prompt that the current driving speed has exceeded the safe speed.
In one implementation, the transceiver unit 702 is further configured to output a second prompt message, where the second prompt message is used to prompt to release the limit of the safe speed.
In one implementation, the device for determining the safe speed further includes a control unit 703; the control unit 703 is configured to adjust a driving state according to the safe speed.
In one implementation, the processing unit 701 is further configured to determine that the current driving road is a straight road;
the control unit 703 is further configured to adjust the driving state according to a historical driving speed, which is a driving speed before the driving state is adjusted according to the safe speed.
In one implementation, the road detection information may be obtained by a sensor including one or more of a millimeter wave radar, a laser radar, an ultrasonic radar, and a vision sensor.
It should be noted that details that are not mentioned in the embodiment corresponding to fig. 7 and specific implementation manners of the steps executed by each module may refer to the embodiments shown in fig. 2 to fig. 4 and the foregoing details, and are not described again here.
In one implementation, the relevant functions implemented by the various units in FIG. 7 may be implemented in connection with a processor and a communications interface. Referring to fig. 8, fig. 8 is a schematic structural diagram of another device for determining a safe speed provided in the embodiment of the present application, where the device may be a mobile object or a device (e.g., a chip) having a function of determining a safe speed. The means 800 for determining a safe speed may comprise a communication interface 801, at least one processor 802 and a memory 803. The communication interface 801, the processor 802 and the memory 803 may be connected to each other via one or more communication buses, or may be connected in other ways.
Communication interface 801 may be used, among other things, to transmit data and/or signaling and to receive data and/or signaling. It is to be appreciated that communication interface 801 is a generic term that can include one or more interfaces. For example, including interfaces between the determination means of safe speed and other devices, etc.
Processor 802 may be configured to process data and/or signaling sent by communication interface 801 or received by communication interface 801. For example, the processor 802 may invoke program code stored in the memory 803 to implement communications procedures via the communications interface 801. The processor 802 may include one or more processors, for example, the processor 802 may be one or more Central Processing Units (CPUs), Network Processors (NPs), hardware chips, or any combination thereof. In the case where the processor 802 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.
The memory 803 is used for storing program codes and the like, among others. The memory 803 may include a volatile memory (volatile memory), such as a Random Access Memory (RAM); the memory 803 may also include a non-volatile memory (non-volatile memory), such as a read-only memory (ROM), a flash memory (flash memory), a Hard Disk Drive (HDD), or a solid-state drive (SSD); the memory 803 may also comprise a combination of memories of the kind described above.
The communication interface 801 and the processor 802 may be configured to implement the method for determining the safe speed in the embodiments shown in fig. 2 to fig. 4, where the processor 802 calls the code in the memory 803 to specifically execute the following steps:
determining the curvature radius information of the road;
and determining a safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed, wherein the safe speed is a speed which runs on the road with the lowest safety index.
In one implementation, the radius of curvature information is determined from road detection information including at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one implementation, the curvature radius information is obtained by fusing at least two types of road detection information.
In one implementation, in the fusion process, the boundary information of the road and/or the lane line information of the road is a first weight, the travel track information of the front moving object and/or the travel track information of the side moving object is a second weight, and the first weight is higher than the second weight.
In one implementation, the processor 802 calls code in the memory 803 and may further perform the following steps:
determining a curve equation according to the road detection information;
and determining the curvature radius information according to the curve equation.
In one implementation, the correspondence is determined according to a relationship between a speed and a minimum radius of a circular curve in a highway design specification.
In one implementation, the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.
In one implementation, the processor 802 calls code in the memory 803 and may further perform the following steps:
the curvature radius information is received through the communication interface 801.
In one implementation, the processor 802 calls code in the memory 803 and may further perform the following steps:
first prompt information for prompting that the current running speed has exceeded the safe speed is output through the communication interface 801.
In one implementation, the processor 802 calls code in the memory 803 and may further perform the following steps:
a second prompt message for prompting release of the limit of the safe speed is output through the communication interface 801.
In one implementation, the processor 802 calls code in the memory 803 and may further perform the following steps:
and adjusting the running state according to the safe speed.
In one implementation, the processor 802 calls code in the memory 803 and may further perform the following steps:
determining that the current driving road is a straight road;
and adjusting the running state according to a historical running speed, wherein the historical running speed is the running speed before the running state is adjusted according to the safe speed.
In one implementation, the road detection information may be obtained by a sensor including one or more of a millimeter wave radar, a laser radar, an ultrasonic radar, and a vision sensor.
The embodiment of the present application provides a control system of a sensor, as shown in fig. 9, the control system 900 of the sensor can be used to implement the determination method of the safe speed proposed in the above embodiment. The sensor control system 900 may include: processing means 901, control means 902 and sensor 903; wherein the content of the first and second substances,
a sensor 903 for acquiring road detection information;
processing means 901 for determining information of a curvature radius of a road on which the vehicle is located, the information of the curvature radius being determined according to the road detection information;
the processing device 901 is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between the curvature radius and the speed, where the safe speed is a speed that runs on the road with a lowest safety index;
and a control device 902 for adjusting the driving state according to the safe speed.
In one implementation, the road detection information includes at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
In one implementation, the curvature radius information is obtained by fusing at least two types of road detection information.
In one implementation, in the fusion process, the boundary information of the road and/or the lane line information of the road is a first weight, the travel track information of the front moving object and/or the travel track information of the side moving object is a second weight, and the first weight is higher than the second weight.
In one implementation, the processing device 901 is further configured to:
determining a curve equation according to the road detection information;
and determining the curvature radius information according to the curve equation.
In one implementation, the correspondence is determined according to a relationship between a speed and a minimum radius of a circular curve in a highway design specification.
In one implementation, the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.
In one implementation, the control system of the sensor further comprises a transceiver device 904; the transceiver 904 is configured to receive the curvature radius information.
In one implementation, the transceiver 904 is further configured to output a first prompt message, where the first prompt message is used to prompt that the current driving speed has exceeded the safe speed.
In one implementation, the transceiver 904 is further configured to output a second prompt message, where the second prompt message is used to prompt to release the limit of the safe speed.
In one implementation, the processing device 901 is further configured to determine that the current driving road is a straight road;
the control means 902 is further configured to adjust the driving state based on a historical driving speed, which is a driving speed before the driving state is adjusted based on the safe speed.
In one implementation, the sensor includes one or more of a millimeter wave radar, a laser radar, an ultrasonic radar, a vision sensor.
Embodiments of the present application also provide a computer-readable storage medium, which includes a program or instructions, when the program or instructions are run on a computer, cause the computer to execute the method for determining a safe speed in the above method embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., Digital Video Disk (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (15)

1. A method for determining a safe speed, comprising:
determining the curvature radius information of the road;
and determining a safe speed corresponding to the curvature radius information according to a preset corresponding relation between the curvature radius and the speed, wherein the safe speed is a speed which runs on the road with the lowest safety index.
2. The method of claim 1, wherein the radius of curvature information is determined from road detection information, the road detection information including at least one of:
boundary information of the road;
lane line information of the road;
travel track information of a front moving object;
and travel track information of the lateral moving object.
3. The method according to claim 2, wherein the curvature radius information is obtained by fusing at least two types of road detection information.
4. The method according to claim 3, wherein the boundary information of the road and/or the lane line information of the road is a first weight, and the travel trajectory information of the front moving object and/or the travel trajectory information of the side moving object is a second weight, and the first weight is higher than the second weight during the fusion process.
5. The method according to any one of claims 2 to 4, wherein the determining of the radius of curvature information of the road comprises:
determining a curve equation according to the road detection information;
and determining the curvature radius information according to the curve equation.
6. The method of claim 1, wherein the correspondence is determined according to a relationship between a speed and a minimum radius of a circular curve in a road design specification.
7. The method according to claim 1, wherein the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.
8. The method of claim 1, further comprising:
and adjusting the driving state according to the safe speed and/or outputting first prompt information, wherein the first prompt information is used for prompting that the current driving speed exceeds the safe speed.
9. The method of claim 8, wherein after adjusting the driving condition based on the safe speed, further comprising:
determining that the current driving road is a straight road;
and adjusting a running state according to a historical running speed and/or outputting second prompt information, wherein the historical running speed is the running speed before the running state is adjusted according to the safe speed, and the second prompt information is used for prompting to release the limit of the safe speed.
10. The method of claim 2, wherein the road detection information may be obtained by sensors including one or more of millimeter wave radar, lidar, ultrasonic radar, and vision sensors.
11. A safe speed determination apparatus, comprising:
the processing unit is used for determining the curvature radius information of the road;
the processing unit is further configured to determine a safe speed corresponding to the curvature radius information according to a preset corresponding relationship between the curvature radius and the speed, where the safe speed is a speed at which the vehicle travels on the road with a lowest safety index;
and the transceiving unit is used for outputting the safe speed.
12. A device for determining a safe speed, comprising a processor coupled to a communication interface such that
The processor is configured to read instructions to perform the method of any one of claims 1 to 10.
13. A control system for a sensor, comprising: processing means for performing the method according to any one of claims 1 to 7, control means for performing the method according to claims 8 and 9, and a sensor comprising the sensor according to claim 10.
14. A chip comprising a processor and an interface;
the processor is configured to read instructions to perform the method of any one of claims 1 to 10.
15. A computer-readable storage medium comprising a program or instructions for performing the method of any one of claims 1 to 10 when the program or instructions are run on a computer.
CN201911262164.0A 2019-12-10 2019-12-10 Method, device and system for determining safe speed Pending CN112937573A (en)

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