CN113500994B

CN113500994B - Vehicle speed limiting method and device, electronic equipment and storage medium

Info

Publication number: CN113500994B
Application number: CN202110815628.7A
Authority: CN
Inventors: 张志晨; 马万里
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2022-11-29
Anticipated expiration: 2041-07-19
Also published as: CN113500994A

Abstract

The embodiment of the invention discloses a vehicle speed limiting method, a vehicle speed limiting device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining the current road scene of the vehicle; determining a limiting condition matched with the road surface scene, wherein the limiting condition is a relation between correlation quantities; determining a maximum speed limit of the vehicle according to a relation between the correlation quantities based on the road surface scene; wherein the correlation quantity comprises: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle. The method and the device for determining the maximum speed of the vehicle realize the determination of the maximum speed of the vehicle, further improve the safety of the automatic driving vehicle and reduce the implementation cost.

Description

Vehicle speed limiting method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of automatic driving, in particular to a vehicle speed limiting method, a vehicle speed limiting device, electronic equipment and a storage medium.

Background

For autonomous vehicles, the most important indicator is safety, and vehicle speed is a key factor in achieving safety.

In a scenario where an autonomous vehicle meets other vehicles, the prior art is typically: when the automatic driving vehicles pass through the intersection, the road test equipment arranged at the intersection monitors the passing automatic driving vehicles, then uploads the monitored information to the traffic monitoring command center, the traffic monitoring command center determines the speed limit information of each vehicle according to the monitoring information of each vehicle, and then sends the speed limit information to each vehicle to guide each vehicle to pass through the intersection.

Obviously, the above method has the problem of high cost.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, embodiments of the present disclosure provide a method and an apparatus for limiting a speed of a vehicle, an electronic device, and a storage medium, so as to determine a maximum speed of the vehicle, improve safety of an autonomous driving vehicle, and reduce implementation cost.

In a first aspect, an embodiment of the present disclosure provides a vehicle speed limiting method, including:

determining the current road scene of the vehicle;

determining a limiting condition matched with the road surface scene, wherein the limiting condition is a relation between correlation quantities;

determining a maximum speed limit of the vehicle according to a relation between the correlation quantities based on the road surface scene;

wherein the correlation quantity comprises: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle.

In a second aspect, an embodiment of the present disclosure further provides a vehicle speed limiting device, including:

the vehicle road surface scene determining module is used for determining a current road surface scene of a vehicle;

the second determination module is used for determining a limiting condition matched with the road surface scene, wherein the limiting condition is the relation between the related quantities;

a third determination module for determining a maximum speed of the vehicle according to a relationship between the correlation quantities based on the road surface scene;

In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the vehicle speed limit method as described above.

In a fourth aspect, the disclosed embodiments also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle speed limiting method as described above.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has at least the following advantages:

the vehicle speed limiting method provided by the embodiment of the disclosure is executed by a vehicle without the help of a traffic monitoring command center and a drive test device, so that the method has the advantage of low implementation cost. Specifically, a matched limiting condition is determined according to the current road surface scene of the vehicle, the limiting condition is the relationship between the correlation quantities, then the maximum speed of the vehicle is determined according to the road surface scene and based on the relationship between the correlation quantities, and the correlation quantities comprise: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle. The maximum speed of the vehicle is solved by combining the relationship between the matched related quantities according to the route scene, the maximum speed of the vehicle is determined, and a data basis is further provided for improving the safety of the automatic driving vehicle.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and features are not necessarily drawn to scale.

FIG. 1 is a flow chart of a method of limiting vehicle speed in an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a single lane scenario in an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a parallel import scenario in an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a vertical import scenario in an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a non-vertical intersection scenario in an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a vertical intersection scenario in an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a lane-change scenario in an embodiment of the present disclosure;

FIG. 8 is a schematic illustration of a crosswalk scene in an embodiment of the disclosure;

FIG. 9 is a schematic structural diagram of a vehicle speed limiter according to an embodiment of the disclosure;

fig. 10 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

Fig. 1 is a flowchart of a vehicle speed limiting method in an embodiment of the present disclosure, where the embodiment is applicable to a vehicle, and the method may be executed by a vehicle speed limiting device, which may be implemented in software and/or hardware, and may be configured in a vehicle, typically, an autonomous vehicle, for example.

As shown in fig. 1, the method may specifically include the following steps:

and step 110, determining the current road scene of the vehicle.

For example, the determining the current road surface scene of the vehicle includes:

determining an obstacle within a detection range based on the on-vehicle sensing device; and determining the current road scene of the vehicle according to the relative position of the obstacle and the vehicle and the planned path of the vehicle.

The vehicle-mounted sensing device can be, for example, a vehicle-mounted camera, a vehicle-mounted radar, a vehicle-mounted infrared device, and the like. The road scene specifically refers to information such as a current road network type, whether an obstacle exists around the vehicle, what the relative positional relationship between the obstacle and the vehicle is, what influence the obstacle has on a driving plan of the vehicle (the driving plan can be obtained from a planned path of the vehicle), and the like, for example, whether a risk of colliding with the obstacle exists in a subsequent driving process of the vehicle.

In one embodiment, the road surface scene is divided into the following seven types according to the current road network type, the relative position relationship between the obstacle and the vehicle and the influence of the obstacle on the driving plan of the vehicle:

the first road surface scene is a single lane scene, and a schematic diagram of the single lane scene is referred to as fig. 2. In the single lane scenario, there is an obstacle obj traveling in the reverse direction of the vehicle ego with respect to the vehicle ego, that is, the vehicle ego travels in the same lane as the obstacle obj. The first current position where the vehicle ego is located is marked as 1O, and the second current position where the obstacle obj is located is marked as 2O.

The second road surface scene is a parallel convergence scene, and reference is made to a schematic diagram of the parallel convergence scene as shown in fig. 3. In the second lane 320 parallel to the first lane 310 in which the vehicle ego is located, there is an obstacle obj traveling in the same direction as the vehicle ego and located behind the vehicle ego, and the planned path of the vehicle ego includes the second lane 320 in which the obstacle obj is located. The third current position where the vehicle ego is located is marked as 3O, and the fourth current position where the obstacle obj is located is marked as 4O.

The third road surface scene is a vertical convergence scene, and reference is made to a schematic diagram of the vertical convergence scene as shown in fig. 4. An obstacle obj is present in a second lane 420 perpendicular to the first lane 410 where the vehicle ego is located, and neither the vehicle ego nor the obstacle obj reaches the intersection of the first lane 410 and the second lane 420, and the planned path of the vehicle ego includes merging into the second lane 420 upon reaching the intersection, the planned path of the obstacle includes continuing travel along the second lane 420 through the intersection. The fifth current position where the vehicle ego is located is labeled 5O, and the sixth current position where the obstacle obj is located is labeled 6O.

The fourth road surface scene is a non-vertical crossing scene, and reference is made to a schematic diagram of the non-vertical crossing scene as shown in fig. 5. An obstacle obj traveling in the opposite direction of the vehicle ego is present in the second lane 520 parallel to the first lane 510 where the vehicle ego is located, and the planned path of the vehicle ego includes traveling through the second lane 520 to the third lane 530, i.e., the vehicle ego makes a left turn through the intersection, the third lane 530 is perpendicular to the second lane 520, neither the vehicle ego nor the obstacle obj reaches the intersection of the third lane 530 and the second lane 520, and the planned path of the obstacle obj is to continue traveling along the second lane 520 through the intersection. The seventh current position where the vehicle ego is located is labeled 7O, and the eighth current position where the obstacle obj is located is labeled 8O.

A fifth road surface scene is a vertical crossing scene, and reference is made to a schematic diagram of the vertical crossing scene as shown in fig. 6. An obstacle obj is present in a second lane 620 perpendicular to the first lane 610 where the vehicle ego is located, and neither vehicle ego nor the obstacle obj reaches the intersection of the first lane 610 and the second lane 620, and the planned path of vehicle ego includes continuing travel along the first lane 610 through the intersection, and the planned path of the obstacle obj includes continuing travel along the second lane 620 through the intersection. The ninth current position where the vehicle ego is located is marked as 9O, and the tenth current position where the obstacle obj is located is marked as 10O.

A sixth road surface scene is a lane change scene, and a schematic diagram of the lane change scene shown in fig. 7 is referred to. An obstacle obj exists in front of vehicle ego in a first lane 710 where vehicle ego is located, and the planned path of vehicle ego includes changing lanes to a second lane 720 that is parallel and co-directional to first lane 710. The eleventh current position where the vehicle ego is located is marked as 11O, and the twelfth current position where the obstacle obj is located is marked as 12O.

A seventh road surface scene is a crosswalk scene, and reference is made to a schematic diagram of a crosswalk scene as shown in fig. 8. There is a crosswalk ahead of the first lane 810 where vehicle ego is located, and there is an obstacle (e.g., a pedestrian) in the crosswalk that does not reach the intersection of the first lane 810 and the crosswalk, and the planned path of vehicle ego includes continued travel along the first lane 810 through the intersection, i.e., vehicle ego has not yet reached the intersection at the present time. The thirteenth current position where the vehicle ego is located is marked as 13O, and the fourteenth current position where the obstacle obj is located is marked as 14O.

And step 120, determining a limiting condition matched with the road surface scene, wherein the limiting condition is the relation between the related quantities.

The limiting condition refers to a vehicle running plan determined with safety as a target, in other words, how to control the vehicle to run can ensure that the vehicle and the obstacle do not collide with each other, so that the safety of the vehicle and the obstacle is ensured. The correlation quantities include: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle. The maximum sensing distance of the vehicle can be determined according to the maximum sensing distance of the vehicle-mounted sensing equipment. The speed of the obstacle can be detected by the vehicle-mounted sensing device. The acceleration of the vehicle is a known quantity.

And step 130, determining the maximum speed of the vehicle according to the relation between the correlation quantities based on the road surface scene.

In an embodiment, if the road surface scene is the single lane scene, the maximum sensing distance of the vehicle includes: maximum forward perceived distance, the correlation quantity further comprising an obstacle acceleration and an obstacle length. Since the vehicle and the obstacle travel in opposite directions, in order to ensure that the vehicle does not collide with the obstacle, the vehicle and the obstacle need to decelerate. In order to obtain the maximum limit speed of the vehicle, the defining condition is determined as the limit that both the vehicle and the obstacle have decelerated to zero when the vehicle collides with the obstacle. As shown in fig. 2, the limiting conditions include: the distance of the vehicle ego for deceleration ego _ s, the distance of the obstacle obj for deceleration obj _ s, the length of the obstacle obj _ length, and the distance equal to the maximum forward sensing distance ego forward _ dist. The distance ego _ s on which the vehicle ego decelerates is a distance from the first current position 1O to the deceleration of 0, wherein the vehicle ego decelerates by using the maximum speed ego _ v as an initial speed. The route obj _ s on which the obstacle obj is decelerated is a distance by which the obstacle obj is decelerated from the second current position 2O until the deceleration is 0.

According to the above-defined conditions, in combination with the physical equality relationship between speed, acceleration and distance, the relationship between the following correlation quantities can be determined:

ego_forward_dist＝ego_s+obj_s+obj_length (1)

2*ego_dec*ego_s＝ego_v ² (2)

2*obj_dec*obj_s＝obj_v ² (3)

wherein ego _ forward _ dist represents the maximum forward sensing distance, ego _ s represents a route traveled by the vehicle when decelerating from a maximum speed ego _ v to a speed of 0 according to an acceleration ego _ dec, obj _ s represents a route traveled by the obstacle when decelerating from an initial speed obj _ v to a speed of 0 according to an acceleration obj _ dec, and obj _ length represents a length of the obstacle.

In the above relational expression (3), the initial velocity obj _ v and the acceleration obj _ dec of the obstacle are both known quantities (which can be obtained by measurement by the in-vehicle sensor device), and therefore the course obj _ s traveled by the obstacle can be calculated from the above relational expression (3). In this way, in the relational expression (1), the route obj _ s traveled by the obstacle, the maximum forward perceived distance ego _ forward _ dist, and the length obj _ length of the obstacle are known, and the route ego _ s traveled by the vehicle can be calculated from the relational expression (1), and then the maximum speed limit ego _ v of the vehicle can be calculated from the relational expression (2). And then the running speed of the vehicle is controlled not to exceed the maximum speed ego _ v so as to ensure the safety of the vehicle and the barrier and improve the driving safety.

In one embodiment, if the road surface scene is the parallel entry scene, the maximum sensing distance of the vehicle includes: maximum forward perception distance and maximum backward perception distance, the correlation quantity further includes: the length of the vehicle and the length of the obstacle. Since the vehicle and the obstacle run in the same direction and the vehicle is about to enter the lane where the obstacle is located, in order to ensure that the vehicle and the obstacle do not collide with each other and ensure that the allowable vehicle speed is the maximum speed, the following limiting conditions need to be satisfied: when the vehicle decelerates from the current position to a position a of a lane where the obstacle is located (shown in fig. 3) with the maximum speed as an initial speed, the speed is decelerated to be equal to the speed of the obstacle, and the obstacle just passes through the position a where the vehicle arrives, that is, the obstacle arrives at the position C. As shown in fig. 3, the limiting conditions specifically include:

the vehicle ego decelerates from the third current position 3O to a speed equal to the speed of the obstacle obj with the maximum limit speed ego _ v as an initial speed, and the traveled distance is the maximum forward sensing distance ego _ forward _ dist; the obstacle obj starts to drive at a constant speed from the fourth current position 4O within the time of the vehicle ego decelerating, and the distance of the obstacle obj driving at the constant speed is the sum of the maximum backward sensing distance ego _ backward _ dist, the maximum forward sensing distance ego _ forward _ dist, the length ego _ length of the vehicle, and the length obj _ length of the obstacle. It should be noted that, as can be seen from fig. 3, when the vehicle ego reaches the position a, the obstacle obj reaches the position C, and the length of the vehicle ego is used to approximately express the length occupied by the vehicle ego when the vehicle ego merges into the second lane 320.

obj_v＝ego_v+ego_dec*t (5)

obj_s＝obj_v*t (6)

wherein obj _ s represents a distance traveled by the obstacle at a constant speed obj _ v within a time t of decelerated travel of the vehicle, ego _ backward _ dist represents the maximum backward sensing distance, ego _ forward _ dist represents the maximum forward sensing distance, ego _ length represents a length of the vehicle, obj _ length represents a length of the obstacle, and t represents a time required for the vehicle to decelerate from an initial speed ego _ v to a speed obj _ v in accordance with an acceleration ego _ dec.

In the above relation (4), the maximum backward sensing distance ego _ backward _ dist, the maximum forward sensing distance ego _ forward _ dist, the length ego _ length of the vehicle, and the length obj _ length of the obstacle are known, and therefore the distance obj _ s traveled by the obstacle can be calculated. On this basis, since the speed obj _ v of the obstacle is a known quantity, the time t can be calculated from the above-described relation (6). On the basis, the acceleration ego _ dec of the vehicle is a known quantity, and the maximum speed ego _ v of the vehicle can be calculated according to the relational expression (5). And then the running speed of the vehicle is controlled not to exceed the maximum speed ego _ v so as to ensure the safety of the vehicle and the barrier and improve the driving safety.

In one embodiment, if the road surface scene is the vertical convergence scene, the maximum sensing distance of the vehicle includes: maximum forward perception distance and maximum lateral perception distance, the correlation quantity further comprising: the width of the vehicle and the length of the obstacle. Since the vehicle will merge into the lane where the obstacle is located and the obstacle will continue to travel in the lane, if the speed of the vehicle is not controlled, the vehicle may collide with the obstacle at the intersection (i.e., the intersection where the vehicle merges into the lane where the obstacle is located), so in order to ensure safety and obtain the maximum speed of the vehicle, the following defining conditions are established (as shown in fig. 4): the vehicle ego decelerates from the fifth current position 5O to a speed equal to the speed of the obstacle obj when traveling the maximum forward perceived distance ego _ forward _ dist at a deceleration speed with the maximum limit speed ego _ v as the initial speed; the distance traveled by the obstacle obj at a constant speed from the sixth current position 6O within the time of the decelerated travel of the vehicle ego is equal to the sum of the maximum lateral perceived distance ego _ side _ dist, the length obj _ length of the obstacle obj, and the width ego _ width of the vehicle ego.

obj_s＝ego_side_dist+ego_width+obj_length (7)

obj_s＝obj_v*t (9)

wherein ego _ side _ dist represents the maximum lateral distance, obj _ s represents a course traveled by the obstacle at a uniform speed obj _ v during the time the vehicle is decelerating, ego _ width represents a width of the vehicle, obj _ length represents a length of the obstacle, ego _ forward _ dist represents the maximum forward sensing distance, ego _ v represents the maximum limit speed, ego _ dec represents an acceleration of the vehicle, and t represents a time taken for the vehicle to decelerate from an initial speed ego _ v to the maximum forward sensing distance in accordance with an acceleration ego _ dec.

In the above relational expression (7), since the maximum lateral distance ego _ side _ dist on the right of the equal sign, the width ego _ width of the vehicle, and the length obj _ length of the obstacle are known, the distance obj _ s traveled by the obstacle can be calculated. On the basis, the time t (the speed obj _ v of the obstacle is a known quantity) can be calculated by combining the relational expression (9), and finally the maximum speed ego _ v of the vehicle can be calculated by combining the relational expression (8).

In an embodiment, if the road surface scene is the non-vertical crossing scene, the maximum perceived distance of the vehicle includes: the maximum forward perceived distance, the related quantities further including an obstacle acceleration, a width of the vehicle, a length of the obstacle, and a width of the obstacle. Referring to fig. 5, the defining conditions include: assuming that the obstacle obj is travelling at a constant speed from the eighth current position 8O to the second position 2C within the time that the vehicle ego is travelling at a constant speed from the seventh current position 7O to the first position 1B at the maximum speed ego _ v, the first position 1B is a position passing through the intersection of the vehicle ego and the obstacle obj, and the second position 2C is a position not reaching the intersection of the obstacle obj and the vehicle ego; determining that the obstacle obj is in the time for decelerating from the eighth current position 8O to the third position 3D, the vehicle ego decelerates from the seventh current position (7O) to the fourth position 4A at the maximum speed ego _ v, the third position 3D is a position passing through the intersection of the obstacle obj and the vehicle ego, and the fourth position 4A is a position not reaching the intersection of the vehicle ego and the obstacle obj; the distance traveled by vehicle ego at a constant speed from seventh current position 7O to fourth position 4A at maximum speed ego _ v, the distance traveled by obstacle obj from eighth current position 8O to second position 2C at a reduced speed, and the sum of the width of vehicle ego and the maximum forward perceived distance ego _ forward _ dist.

ego_s＝ego_v*t _A (11)

t _B ＝t _A +t _A-B ＝t _C (13)

ego_forward_dist＝ego_s+obj_s+ego_width (16)

wherein the assumed conditions are virtual, the determined conditions may be real, and the assumed conditions are set for limiting the maximum speed; t is t _A-B Represents the time taken for the vehicle to travel at a constant speed from the fourth position 4A to the first position 1B at a maximum speed ego _ v, ego _ length represents the length of the vehicle, obj _ width represents the width of the obstacle, ego _ s represents the distance traveled by the vehicle at a constant speed from the seventh current position 7O to the fourth position 4A at a maximum speed ego _ v, t _A Representing the time it takes for the vehicle to travel at constant speed from the seventh current position 7O to the fourth position 4A at a maximum speed ego _ v, obj _ s representing the distance traveled by the obstacle at constant speed from the eighth current position 8O to the second position 2C at a speed obj _ v, t _C Represents the time it takes for the obstacle to travel at a constant speed obj _ v from the eighth current position 8O to the second position 2C, t _D Represents the time taken for the obstacle to travel from the eighth current position 8O to the third position 3D at a speed obj _ v and an acceleration obj _ dec, ego _ dec represents the acceleration of the vehicle, obj _ length represents the length of the obstacle, ego _ width represents the width of the vehicle, t _B Representing the time taken for the vehicle to travel at a constant speed from the seventh current position 7O to the first position 1B, ego _ forward _ distThe maximum forward perceived distance.

Specifically, in the above relational expression (12), the length obj _ length of the obstacle, the width ego _ width of the vehicle, the speed obj _ v of the obstacle, and the acceleration obj _ dec of the obstacle are all known quantities, and therefore the time t can be derived from the above relational expression (12) _C And time t _D The relation between them, then using the time t _D Represents the time t _C The time t can be obtained by combining the above relation (14) _D And then the time t can be calculated _C . Reuse time t _C And the above relation (12) can derive the course obj _ s traveled by the obstacle. In this way, the route obj _ s traveled by the obstacle, the width ego _ width of the vehicle, and the maximum forward sensing distance ego _ forward _ dist are known in the relational expression (16), and therefore the route ego _ s traveled by the vehicle can be derived from the relational expression (16). In combination with the above relation (15), wherein the time t _D If the acceleration ego _ dec of the vehicle and the ego _ s on the right side of the equal sign are known quantities, the maximum speed ego _ v of the vehicle can be obtained.

In one embodiment, if the road surface scene is the vertical crossing scene, the maximum sensing distance of the vehicle includes: maximum forward perceived distance and maximum lateral perceived distance, the relevant quantities further including obstacle acceleration, width of the vehicle, length of the obstacle, and width of the obstacle. As shown in fig. 6, the limiting conditions include: assuming that the obstacle obj travels at a constant speed from the tenth current position 10O to the sixth position 6C within the time that the vehicle ego travels at a constant speed from the ninth current position 9O to the fifth position 5B at the maximum speed ego _ v, the fifth position 5B is a position passing through the intersection of the vehicle ego and the obstacle obj, and the sixth position 6C is a position not reaching the intersection of the obstacle obj and the vehicle ego; determining that the obstacle obj is in the time for decelerating from the tenth current position 10O to the seventh position 7D, the vehicle ego decelerates from the ninth current position 9O to the eighth position 8A with the maximum speed ego _ v as the initial speed, the seventh position 7D is a position passing through the intersection of the obstacle obj and the vehicle ego, and the eighth position 8A is a position not reaching the intersection of the vehicle ego and the obstacle obj; the sum of the distance ego _ s traveled by the vehicle ego at a constant speed from the ninth current position 9O to the eighth position 8A at the maximum speed ego _ v and the width of the obstacle obj is equal to the maximum forward sensing distance ego _ forward _ dist; the distance obj _ s traveled by the obstacle obj from the tenth current position 10O at the constant speed to the sixth position 6C is equal to the maximum lateral perceived distance ego _ side _ dist.

ego_s＝ego_v*t _A (18)

t _B ＝t _A +t _A-B ＝t _C (20)

wherein the assumed condition is virtual and the determined condition may be true; t is t _A-B Representing the time it takes for the vehicle to travel at a constant speed from the eighth position 8A to the fifth position 5B at a maximum speed ego _ v, ego _ length representing the length of the vehicle, obj _ width representing the width of the obstacle, ego _ s representing the distance traveled by the vehicle at a constant speed from the ninth current position 9O to the eighth position 8A at a maximum speed ego _ v, t _A Representing the time it takes for the vehicle to travel at a maximum speed ego _ v at a constant speed from the ninth current position 9O to the eighth position 8A, obj _ s representing the distance traveled by the obstacle at a speed obj _ v from the tenth current position 10O at a constant speed to the sixth position 6C, t _C Represents the time it takes for the obstacle to travel at a constant speed obj _ v from the tenth current position 10O to the sixth position 6C, t _D Represents the time taken for the obstacle to travel from the tenth current position 10O to the seventh position 7D at a speed obj _ v and an acceleration obj _ dec, ego _ dec represents the acceleration of the vehicle, obj _ length represents the length of the obstacle, ego _ width represents the width of the vehicle, t _B Represents the time taken by the vehicle to travel at a constant speed from the ninth current position 9O to the fifth position 5B, ego _ forward _ dist represents the maximum forward perceived distance, and ego _ side _ dist represents the maximum lateral perceived distance.

Specifically, in the above relational expression (23), since the maximum lateral sensing distance ego _ side _ dist and the width obj _ width of the obstacle are known, the course obj _ s traveled by the obstacle and the course ego _ s traveled by the vehicle can be derived from the above relational expression (23). The time t can be derived from the distance obj _ s traveled by the obstacle, the speed obj _ v of the obstacle, the acceleration obj _ dec of the obstacle and the relation (19) _D And t _C . The maximum speed ego _ v and the time t of the vehicle can be deduced according to the distance ego _ s traveled by the vehicle and the relation (18) _A The relationship between the maximum speed ego _ v of the vehicle versus time t _A Is expressed as t _A = ego _ s/ego _ v, will t _A By substituting the relation (17) and ego _ s/ego _ v into the relation (20), the maximum speed ego _ v of the vehicle can be derived.

In one embodiment, if the road scene is the lane change scene, the maximum sensing distance of the vehicle includes: maximum forward perceived distance, the correlation quantity further comprising: a first safety distance. As shown in fig. 7, the limiting conditions include: the distance traveled by the vehicle ego when decelerating from the eleventh current position 11O to a speed of 0 with the maximum speed ego _ v as the initial speed is equal to the difference between the maximum forward sensing distance ego _ forward _ dist and the first safety distance.

ego_forward_dist＝ego_s+lane_change_min_dist (24)

2*ego_dec*ego_s＝ego_v ² (25)

wherein ego _ forward _ dist represents the maximum forward sensing distance, lane _ change _ min _ dist represents the first safe distance, and ego _ s represents a distance traveled by vehicle ego from maximum speed ego _ v at acceleration ego _ dec while decelerating to a speed of 0.

Specifically, the distance ego _ s traveled by the vehicle can be derived from the relation (24), and the maximum speed ego _ v of the vehicle can be determined by combining the relation (25).

In one embodiment, if the road surface scene is the crosswalk scene, the correlation further includes: the distance sensing device comprises a first safety distance, a second safety distance, a third safety distance, a length of a vehicle, a length of an obstacle, a width of the obstacle and an acceleration of the obstacle, wherein the maximum sensing distance of the vehicle comprises a maximum forward sensing distance and a maximum lateral sensing distance;

the limiting conditions include: vehicle ego at first speed ego _ v ₁ As an initial speed, the longitudinal distance from the ninth position 9A, where the vehicle decelerates from the thirteenth current position 13O to the speed of 0, to the crosswalk is equal to a second safe distance, and the ninth position (9A) is the position where the vehicle ego has not yet reached the crosswalk; the time taken for the vehicle ego to travel at the constant speed from the thirteenth current position 13O to the tenth position 10B at the second speed ego _ v2 is the same as the time taken for an obstacle obj (specifically, a pedestrian, for example) to travel at the constant speed from the fourteenth current position 14O to the eleventh position 11D, the tenth position 10B is a position where the vehicle ego passes through the crosswalk, the eleventh position 11D is a position where the obstacle obj has not yet reached the crosswalk, and the time taken for the obstacle obj to travel at the constant speed from the fourteenth current position 14O to the eleventh position 11D is the same as the time taken for the obstacle obj to travel at the constant speed from the fourteenth current position 14O to the eleventh position 11DThe sum of the third safety distances equals the maximum lateral sensing distance; vehicle ego at first speed ego _ v ₁ For the initial speed, the sum of the distance traveled when decelerating from the thirteenth current position 13O to the speed of 0, the length of the vehicle ego, the width of the obstacle obj, and the second safety distance is equal to the maximum forward perceived distance;

the maximum speed is the lesser of the first speed and the second speed.

ego_side_dist＝obj_s+safe_dist (29)

wherein ego _ forward _ dist represents the maximum forward perceived distance, ego _ s represents the vehicle at a first speed ego _ v ₁ A distance traveled from the thirteenth current position 13O to the ninth position 9A with deceleration by the acceleration ego _ dec, ego _ length representing a length of the vehicle, obj _ width representing a width of the obstacle, pred _ safe _ dist representing the second safe distance, t _ safe _ dist representing the second safe distance _B Indicating that the vehicle is at the second speed ego _ v ₂ The time taken to travel at a uniform speed from the thirteenth current position 13O to the tenth position 10B, ego _ side _ dist representing the maximum lateral perceived distance, safe _ dist representing the third safe distance, obj _ s representing the distance traveled by the obstacle at a uniform speed obj _ v from the fourteenth current position 14O to the eleventh position 11D.

Specifically, in the above relation (26), the maximum forward sensing distance ego _ forward _ dist, length ego _ length of vehicle, width obj _ width of obstacle and second safe distance pred _ safe _ dist are all known quantities, so the distance ego _ s traveled by the vehicle can be determined according to relational expression (26), and since the acceleration ego _ dec of the vehicle is also known, the first speed ego _ v of the vehicle can be determined by combining relational expression (27) ₁ . In the relation (29), the maximum lateral sensing distance ego _ side _ dist and the third safe distance safe _ dist are known quantities, so that the distance obj _ s traveled by the obstacle can be determined according to the relation (29), and the second speed ego _ v of the vehicle can be determined by combining the relation (28) ₂ . The maximum limit speed is a first speed ego _ v ₁ And a second speed ego _ v ₂ The smaller of them.

It is understood that the length and width of the vehicle and the length and width of the obstacle measured in the various road surface scenes described above each include a vehicle shape error, which is an error that is unavoidable and within an allowable range. Meanwhile, the travel time of the vehicle and the obstacle used in each of the above relations includes a response delay time delay of a vehicle system, and if a higher-precision maximum speed of the vehicle is to be obtained, the time in each relation in the above scene may be replaced by (T-delay), for example, the above relation (18) may be replaced by the following relation: ego _ s = ego _ v (T) _A -delay)。

The vehicle speed limiting method provided by the embodiment of the disclosure is executed by a vehicle, and from the perspective of the vehicle, the safety problem when the vehicle passes through intersection intersections is solved, the pressure of vehicle speed planning is reduced, and the phenomenon that the vehicle brakes suddenly at some intersections is avoided. The method is realized without the help of a traffic monitoring command center and a drive test device, and the hardware deployment cost is reduced, so that the method has the advantage of low realization cost. Specifically, the road surface scene where the vehicle is located is divided into 7 types of common road surface scenes, and the maximum speed of the vehicle is calculated according to the constructed physical model (the physical model refers to the relationship between the correlation quantities determined according to the limiting conditions) in different road surface scenes. In summary, a matching limit condition is determined according to the current road surface scene of the vehicle, the limit condition is the relation between the correlation quantities, and then the maximum speed limit of the vehicle is determined according to the road surface scene based on the relation between the correlation quantities, and the correlation quantities comprise: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle. The maximum speed of the vehicle is solved by combining the relation between the matched related quantities according to the distance scene, the maximum speed of the vehicle is determined, and a data basis is further provided for improving the safety of the automatic driving vehicle.

Fig. 9 is a schematic structural diagram of a vehicle speed limiting device in an embodiment of the disclosure. The device provided by the disclosed embodiment can be configured in a vehicle, typically, for example, an autonomous vehicle.

As shown in fig. 9, the apparatus specifically includes: a first determination module 910, a second determination module 920, and a third determination module 930.

A first determining module 910, configured to determine a current road surface scene of a vehicle; a second determining module 920, configured to determine a limiting condition matched with the road surface scene, where the limiting condition is a relationship between correlation quantities; a third determining module 930 configured to determine a maximum speed limit of the vehicle according to a relationship between the correlation amounts based on the road surface scene; wherein the correlation quantity comprises: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle.

Optionally, the first determining module 910 includes: a first determination unit configured to determine an obstacle within a detection range based on the vehicle-mounted sensing device; and the second determination unit is used for determining the current road scene of the vehicle according to the relative position of the obstacle and the vehicle and the planned path of the vehicle.

Optionally, if the road surface scene is a single lane scene, the maximum perceived distance of the vehicle includes: maximum forward perceived distance, the correlation quantity further comprising an obstacle acceleration and an obstacle length. The limiting conditions comprise that:

the sum of the distance traveled by the vehicle in a deceleration mode, the distance traveled by the obstacle in a deceleration mode and the length of the obstacle is equal to the maximum forward sensing distance, wherein the distance traveled by the vehicle in a deceleration mode is the distance traveled by the vehicle in a deceleration mode from a first current position 1O to 0 when the vehicle is at the maximum speed serving as an initial speed; the distance on which the obstacle travels at a reduced speed is the distance on which the obstacle travels at a reduced speed from the second current position 2O until the reduced speed is 0.

The relationship between the correlation amounts may refer to the equation relationships (1) to (3) in the above-described embodiments.

Optionally, if the road scene is a parallel convergence scene, the maximum perceived distance of the vehicle includes: maximum forward perception distance and maximum backward perception distance, the correlation quantity further includes: the length of the vehicle and the length of the obstacle. The limiting conditions include:

the vehicle decelerates from a third current position 3O to the same speed as the obstacle by taking the maximum speed as an initial speed, and the distance traveled is the maximum forward sensing distance; and the barrier starts to run at a constant speed from a fourth current position 4O within the time of the deceleration running of the vehicle, and the distance of the constant speed running of the barrier is the sum of the maximum backward sensing distance, the maximum forward sensing distance, the length of the vehicle and the length of the barrier.

The relationship between the correlation amounts may refer to the equation relationships (4) to (6) in the above-described embodiments.

Optionally, if the road surface scene is a vertical convergence scene, the maximum perceived distance of the vehicle includes: maximum forward perception distance and maximum lateral perception distance, the correlation quantity further comprising: the width of the vehicle and the length of the obstacle; the limiting conditions include: the vehicle decelerates from a fifth current position 5O to be equal to the speed of the obstacle when running the maximum forward sensing distance by taking the maximum limit speed as an initial speed; and the distance traveled by the obstacle at a constant speed from the sixth current position 6O within the time of the deceleration traveling of the vehicle is equal to the sum of the maximum lateral sensing distance, the length of the obstacle and the width of the vehicle.

The relationship between the correlation amounts may refer to the equation relationships (7) to (9) in the above-described embodiment.

Optionally, if the road scene is a non-vertical intersection scene, the maximum perceived distance of the vehicle includes: the maximum forward perceived distance, the related quantities further including an obstacle acceleration, a width of the vehicle, a length of the obstacle, and a width of the obstacle. The limiting conditions include:

assuming that the obstacle travels at a constant speed from the eighth current position 8O to the second position 2C within a time period in which the vehicle travels at a constant speed from the seventh current position 7O to the first position 1B at the maximum speed; determining that the vehicle is decelerating from the seventh current position 7O to the fourth position 4A at the maximum speed within the time the obstacle is decelerating from the eighth current position 8O to the third position 3D; the sum of the distance traveled by the vehicle at the maximum speed from the seventh current position 7O at a constant speed to the fourth position 4A, the distance traveled by the obstacle from the eighth current position 8O at a reduced speed to the second position 2C, and the width of the vehicle equals the maximum forward perceived distance.

The relationship between the correlation amounts may refer to the equation relationships (10) to (16) in the above-described embodiments.

Optionally, if the road surface scene is a vertical crossing scene, the maximum perceived distance of the vehicle includes: maximum forward perceived distance and maximum lateral perceived distance, the relevant quantities further including obstacle acceleration, width of the vehicle, length of the obstacle, and width of the obstacle.

The limiting conditions include:

assuming that the obstacle travels at a constant speed from the tenth current position 10O to the sixth position 6C within the time when the vehicle travels at the maximum speed from the ninth current position 9O at a constant speed to the fifth position 5B; determining that the vehicle is traveling at the maximum speed as an initial speed from the ninth current position 9O to the eighth position 8A within a time period for the obstacle to travel at a reduced speed from the tenth current position 10O to the seventh position 7D; the sum of the distance traveled by the vehicle at the maximum speed from the ninth current position 9O at the constant speed to the eighth position 8A and the width of the obstacle equals the maximum forward perceived distance; the distance traveled by the obstacle from the tenth current position 10O at the constant speed to the sixth position 6C is equal to the maximum lateral sensing distance.

The relationship between the correlation amounts may refer to the equation relationships (17) to (23) in the above-described embodiments.

Alternatively, if the road surface scene is a lane change scene, the correlation amount may refer to the equation relations (24) to (25) in the above embodiment.

Optionally, if the road surface scene is a pedestrian crossing scene, the correlation further includes: the distance sensor comprises a first safety distance, a second safety distance, a third safety distance, a length of a vehicle, a length of an obstacle, a width of the obstacle and an acceleration of the obstacle, wherein the maximum sensing distance of the vehicle comprises a maximum forward sensing distance and a maximum lateral sensing distance.

The limiting conditions comprise that: the vehicle decelerates from a thirteenth current position 13O to a ninth position 9A when the speed is 0 with the first speed as an initial speed, the longitudinal distance from the crosswalk to the ninth position 9A is equal to the second safety distance, and the ninth position 9A is the position where the vehicle does not reach the crosswalk; the time taken for the vehicle to travel at the second speed from the thirteenth current position 13O at the constant speed to the tenth position 10B is the same as the time taken for the obstacle to travel at the constant speed from the fourteenth current position 14O to the eleventh position 11D, and the tenth position 10B is the position where the vehicle is located after passing through the crosswalk; the sum of the distance traveled by the obstacle from a fourteenth current position (14O) at a constant speed to an eleventh position (11D) and the third safe distance is equal to the maximum lateral perceived distance; the sum of the distance traveled by the vehicle when the vehicle decelerates from the thirteenth current position 13O to a speed of 0, the length of the vehicle, the width of the obstacle, and the second safety distance is equal to the maximum forward sensing distance, with the first speed as the initial speed; the maximum speed is the lesser of the first speed and the second speed.

The relationship between the correlation amounts may refer to the equation relationships (26) to (29) in the above-described embodiments.

The vehicle speed limiting device provided by the embodiment of the disclosure can execute the steps in the vehicle speed limiting method provided by the embodiment of the disclosure, and the execution steps and the beneficial effects are not repeated herein.

Fig. 10 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. Referring now specifically to fig. 10, a schematic diagram of an electronic device 500 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device 500 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet), a PMP (portable multimedia player), a vehicle-mounted terminal (e.g., a car navigation terminal), a wearable electronic device, and the like, and fixed terminals such as a digital TV, a desktop computer, a smart home device, and the like. The electronic device shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 10, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes to implement the methods of embodiments as described in this disclosure in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 10 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart, thereby implementing the method as described above. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 501.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.

The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining the current road scene of the vehicle; determining a limiting condition matched with the road surface scene, wherein the limiting condition is a relation between correlation quantities; determining a maximum speed of the vehicle according to a relationship between the correlation quantities based on the road surface scene; wherein the correlation quantity comprises: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle.

Optionally, when the one or more programs are executed by the electronic device, the electronic device may also perform other steps described in the above embodiments.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, including conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

Scheme 1, a vehicle speed limit method, the method includes:

determining the current road scene of the vehicle;

Scheme 2, the method according to scheme 1, wherein the determining the current road scene of the vehicle includes:

determining an obstacle within a detection range based on the vehicle-mounted sensing device;

and determining the current road scene of the vehicle according to the relative position of the obstacle and the vehicle and the planned path of the vehicle.

According to the method of the scheme 1 or 2, if the road scene is a single-lane scene, the maximum sensing distance of the vehicle includes: maximum forward perceived distance, the correlation quantity further comprising an obstacle acceleration and an obstacle length;

the limiting conditions include:

the sum of the distance traveled by the vehicle in a deceleration manner, the distance traveled by the obstacle in a deceleration manner and the length of the obstacle is equal to the maximum forward sensing distance, wherein the distance traveled by the vehicle in a deceleration manner is a distance traveled by the vehicle in a deceleration manner from a first current position (1O) to 0 at the maximum speed serving as an initial speed; the distance on which the obstacle travels at a reduced speed is the distance on which the obstacle travels at a reduced speed from the second current position (2O) until the reduced speed is 0.

Scheme 4, the method according to scheme 3, the relationship between the correlation quantities:

ego_forward_dist＝ego_s+obj_s+obj_length

2*ego_dec*ego_s＝ego_v ²

2*obj_dec*obj_s＝obj_v ²

In the method according to the scheme 5 or the scheme 1 or 2, if the road scene is a parallel convergence scene, the maximum perception distance of the vehicle includes: maximum forward perception distance and maximum backward perception distance, the correlation quantity further includes: the length of the vehicle and the length of the obstacle;

the limiting conditions include: the vehicle decelerates from a third current position (3O) to the speed equal to the speed of the obstacle by taking the maximum limit speed as an initial speed, and the distance traveled is the maximum forward sensing distance;

and the barrier starts to run at a constant speed from a fourth current position (4O) within the time of the deceleration running of the vehicle, and the distance of the constant speed running of the barrier is the sum of the maximum backward sensing distance, the maximum forward sensing distance, the length of the vehicle and the length of the barrier.

Scheme 6, the method according to scheme 5, the relationship between the correlation quantities, comprising:

obj_s＝ego_backward_dist+ego_forward_dist+ego_length+obj_length

obj_v＝ego_v+ego_dec*t

obj_s＝obj_v*t

In the method according to the scheme 7 or the scheme 1 or 2, if the road scene is a vertical convergence scene, the maximum perception distance of the vehicle includes: maximum forward perception distance and maximum lateral perception distance, the correlation quantity further comprising: the width of the vehicle and the length of the obstacle;

the limiting conditions include: the vehicle decelerates from a fifth current position (5O) to be equal to the speed of the obstacle when driving the maximum forward sensing distance by taking the maximum limit speed as an initial speed;

and the distance traveled by the obstacle at a constant speed from a sixth current position (6O) within the time of decelerating travel of the vehicle is equal to the sum of the maximum lateral sensing distance, the length of the obstacle and the width of the vehicle.

Scheme 8, the method of scheme 7, the relationship between the correlation quantities, comprising:

obj_s＝ego_side_dist+ego_width+obj_length

obj_s＝obj_v*t

wherein ego _ side _ dist represents the maximum lateral distance, obj _ s represents a course traveled by the obstacle at a uniform speed obj _ v during the time the vehicle is decelerating, ego _ width represents the width of the vehicle, obj _ length represents the length of the obstacle, ego _ forward _ dist represents the maximum forward perceived distance, ego _ v represents the maximum speed limit, ego _ dec represents the acceleration of the vehicle, and t represents the time it takes for the vehicle to decelerate from an initial speed ego _ v to the maximum forward perceived distance in accordance with an acceleration ego _ dec.

In the method according to claim 9 or 1 or 2, if the road scene is a non-vertical crossing scene, the maximum perceived distance of the vehicle includes: a maximum forward perceived distance, the related quantities further including an obstacle acceleration, a width of the vehicle, a length of the obstacle, and a width of the obstacle;

the limiting conditions include: the obstacle runs from the eighth current position (8O) to the second position (2C) at a constant speed within the time when the vehicle runs from the seventh current position (7O) to the first position (1B) at the constant speed at the maximum speed;

-during the time the obstacle is travelling decelerated from the eighth current position (8O) to a third position (3D), the vehicle is travelling decelerated from the seventh current position (7O) to a fourth position (4A) at the maximum speed;

the distance travelled by the vehicle at the maximum speed from the seventh current position (7O) to the fourth position (4A) at constant speed, the distance travelled by the obstacle from the eighth current position (8O) to the second position (2C) at reduced speed and the sum of the width of the vehicle being equal to the maximum forward perceived distance.

Scheme 10 the method of scheme 9, wherein the relationship between the correlation quantities comprises:

ego_s＝ego_v*t _A

t _B ＝t _A +t _A-B ＝t _C

ego_forward_dist＝ego_s+obj_s+ego_width

wherein, t _A-B Represents the time taken by the vehicle to travel at a constant speed from the fourth position (4A) to the first position (1B) at a maximum speed ego _ v, ego _ length represents the length of the vehicle, obj _ width represents the width of the obstacle, ego _ s represents the distance traveled by the vehicle to travel at a constant speed from the seventh current position (7O) to the fourth position (4A) at a maximum speed ego _ v, t _A Represents the time taken by the vehicle to travel at a maximum speed ego _ v from the seventh current position (7O) to the fourth position (4A), obj _ s represents the distance traveled by the obstacle from the eighth current position (8O) to the second position (2C) at a constant speed obj _ v, t _C Represents the time it takes for the obstacle to travel at a constant speed obj _ v from the eighth current position (8O) to the second position (2C), t _D Represents the time taken for the obstacle to travel from the eighth current position (8O) to the third position (3D) at a speed obj _ v, an acceleration obj _ dec, ego _ dec represents the acceleration of the vehicle, obj_length represents the length of the obstacle, ego _ width represents the width of the vehicle, t _B Representing the time it takes for the vehicle to travel at a constant speed from the seventh current position (7O) to the first position (1B), ego _ forward _ dist representing the maximum forward perceived distance.

In the method according to claim 1 or 2, in case that the road scene is a vertical crossing scene, the maximum perceived distance of the vehicle includes: maximum forward sensing distance and maximum lateral sensing distance, the related quantities further including obstacle acceleration, vehicle width, vehicle length, obstacle length, and obstacle width;

the limiting conditions comprise that:

the obstacle runs at a constant speed from a tenth current position (10O) to a sixth position (6C) within the time when the vehicle runs at the maximum speed from a ninth current position (9O) to the fifth position (5B) at the constant speed;

-during the decelerated travel of the obstacle from the tenth current position (10O) to a seventh position (7D), the vehicle is decelerated from the ninth current position (9O) to an eighth position (8A) at the maximum speed as initial speed;

the sum of the distance travelled by the vehicle at constant speed from the ninth current position (9O) to the eighth position (8A) at the maximum speed limit and the width of the obstacle is equal to the maximum forward perceived distance;

the distance traveled by the obstacle from the tenth current position (10O) to the sixth position (6C) at the constant speed is equal to the maximum lateral sensing distance.

Scheme 12, the method of scheme 11, wherein the relationship between the correlation quantities comprises:

ego_s＝ego_v*t _A

t _B ＝t _A +t _A-B ＝t _C

ego_forward_dist＝ego_s+obj_width

ego_side_dist＝obj_s

wherein, t _A-B Represents the time taken by the vehicle to travel at a constant speed from the eighth position (8A) to the fifth position (5B) at a maximum speed ego _ v, ego _ length represents the length of the vehicle, obj _ width represents the width of the obstacle, ego _ s represents the distance traveled by the vehicle to travel at a constant speed from the ninth current position (9O) to the eighth position (8A) at a maximum speed ego _ v, t _A Represents the time taken by the vehicle to travel at a maximum speed ego _ v from the ninth current position (9O) to the eighth position (8A), obj _ s represents the distance traveled by the obstacle at a speed obj _ v from the tenth current position (10O) to the sixth position (6C), t _C Represents the time taken by the obstacle to travel at a constant speed obj _ v from the tenth current position (10O) to the sixth position (6C), t _D Represents the time taken for the obstacle to travel from the tenth current position (10O) to the seventh position (7D) at a speed obj _ v and an acceleration obj _ dec, ego _ dec represents the acceleration of the vehicle, obj _ length represents the length of the obstacle, ego _ width represents the width of the vehicle, t _B Represents the time taken by the vehicle to travel at a uniform speed from the ninth current position (9O) to the fifth position (5B), ego _ forward _ dist represents the maximum forward perceived distance, ego _ side _ dist represents the maximum lateral perceived distance.

In the method according to claim 1 or 2, in case that the road surface scene is a lane change scene, the correlation further includes: a first safe distance, the vehicle maximum perceived distance comprising a maximum forward perceived distance;

the limiting conditions include: and the distance traveled by the vehicle when the vehicle decelerates from the eleventh current position (11O) to the speed of 0 by taking the maximum limit speed as the initial speed is equal to the difference between the maximum forward sensing distance and the first safety distance.

Scheme 14, the method of scheme 13, the relationship between the correlation quantities, comprising:

ego_forward_dist＝ego_s+lane_change_min_dist

2*ego_dec*ego_s＝ego_v ²

wherein ego _ forward _ dist represents the maximum forward sensing distance, lane _ change _ min _ dist represents the first safety distance, and ego _ s represents a distance traveled by the vehicle when decelerating from maximum speed ego _ v to a speed of 0 according to acceleration ego _ dec.

In the method according to claim 15 or 1 or 2, if the road scene is a pedestrian crossing scene, the correlation further includes: the distance sensing device comprises a first safety distance, a second safety distance, a third safety distance, a length of a vehicle, a length of an obstacle, a width of the obstacle and an acceleration of the obstacle, wherein the maximum sensing distance of the vehicle comprises a maximum forward sensing distance and a maximum lateral sensing distance;

the limiting conditions include: the vehicle is decelerated from a thirteenth current position (13O) to a speed of 0 at an initial speed at a first speed, the longitudinal distance from a crosswalk to a ninth position (9A) at which the vehicle is located is equal to the second safety distance, the ninth position (9A) being the position at which the vehicle has not yet reached the crosswalk;

the time taken by the vehicle to travel at the second speed from the thirteenth current position (13O) to the tenth position (10B) at the constant speed is the same as the time taken by the obstacle to travel at the constant speed from the fourteenth current position (14O) to the eleventh position (11D), the tenth position (10B) being a position where the vehicle is located after passing through the crosswalk;

the sum of the distance traveled by the obstacle from the fourteenth current position (14O) at a constant speed to the eleventh position (11D) and the third safe distance is equal to the maximum lateral perceived distance;

the sum of the distance traveled by the vehicle when decelerating from a thirteenth current position (13O) to a speed of 0, the length of the vehicle, the width of the obstacle and the second safety distance equals the maximum forward perceived distance, with the first speed as an initial speed;

the maximum speed is the lesser of the first speed and the second speed.

Scheme 16 the method of scheme 15, wherein the relationship between the correlation quantities comprises:

ego_forward_dist＝ego_s+ego_length+obj_width+pred_safe_dist

ego_side_dist＝obj_s+safe_dist

wherein ego _ forward _ dist represents the maximum forward perceived distance, ego _ s represents the vehicle at a first speed ego _ v ₁ -a journey travelled from the thirteenth current position (13O) with an acceleration of ego _ dec with deceleration to the ninth position (9A), ego _ length representing the length of the vehicle, obj _ width representing the width of the obstacle, pred _ safe _ dist representing the second safety distance, t _ safe _ dist representing the second safety distance _B Indicating that the vehicle is at a second speed ego _ v ₂ -the time taken to travel at a uniform speed from the thirteenth current position (13O) to the tenth position (10B), -ego _ side _ dist representing the maximum lateral perceived distance, -safe _ dist representing the third safe distance, -obj _ s representing the distance traveled by the obstacle at a uniform speed obj _ v from the fourteenth current position (14O) to the eleventh position (11D).

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A method of limiting speed of a vehicle, the method comprising:

determining the current road scene of the vehicle;

wherein the correlation quantity comprises: a vehicle maximum perceived distance, a speed of an obstacle, and an acceleration of the vehicle;

the determining the current road surface scene of the vehicle comprises the following steps:

2. The method of claim 1, wherein if the road surface scene is a single lane scene, the maximum perceived distance of the vehicle comprises: maximum forward perceived distance, the correlation quantity further comprising an obstacle acceleration and an obstacle length;

the limiting conditions include:

3. The method of claim 2, wherein the relationship between the correlation quantities is:

ego_forward_dist＝ego_s+obj_s+obj_length

2*ego_dec*ego_s＝ego_v ²

2*obj_dec*obj_s＝obj_v ²

4. The method of claim 1, wherein if the road scene is a parallel convergence scene, the maximum perceived distance of the vehicle comprises: maximum forward perceptual distance and maximum backward perceptual distance, the correlation quantity further comprising: the length of the vehicle and the length of the obstacle;

5. The method of claim 4, wherein the relationship between the correlation quantities is:

obj_s＝ego_backward_dist+ego_forward_dist+ego_length+obj_length

obj_v＝ego_v+ego_dec*t

obj_s＝obj_v*t

6. The method of claim 1, wherein if the road surface scene is a vertical convergence scene, the vehicle maximum perceived distance comprises: maximum forward perception distance and maximum lateral perception distance, the correlation quantity further comprising: the width of the vehicle and the length of the obstacle;

the limiting conditions comprise that: the vehicle decelerates from a fifth current position (5O) to be equal to the speed of the obstacle when driving the maximum forward sensing distance by taking the maximum limit speed as an initial speed;

7. The method of claim 6, wherein the relationship between the correlation quantities comprises:

obj_s＝ego_side_dist+ego_width+obj_length

obj_s＝obj_v*t

8. The method of claim 1, wherein if the road surface scene is a non-vertical crossing scene, the maximum perceived distance of the vehicle comprises: a maximum forward perceived distance, the related quantities further including an obstacle acceleration, a width of the vehicle, a length of the obstacle, and a width of the obstacle;

-during the time the obstacle travels decelerated from the eighth current position (8O) to a third position (3D), the vehicle travels decelerated from the seventh current position (7O) to a fourth position (4A) at the maximum speed;

9. The method of claim 8, wherein the relationship between the correlation quantities comprises:

ego_s＝ego_v*t _A

t _B ＝t _A +t _A-B ＝t _C

ego_forward_dist＝ego_s+obj_s+ego_width

wherein, t _A-B Indicating that the vehicle is travelling at a constant speed from the fourth position (4A) to the first position at a maximum speed ego _ v(1B) The time taken, ego _ length represents the length of the vehicle, obj _ width represents the width of the obstacle, ego _ s represents the distance traveled by the vehicle at a maximum speed ego _ v at a constant speed from the seventh current position (7O) to the fourth position (4A), t _A Represents the time taken by the vehicle to travel at a maximum speed ego _ v from the seventh current position (7O) to the fourth position (4A), obj _ s represents the distance traveled by the obstacle at a speed obj _ v from the eighth current position (8O) to the second position (2C), t _C Represents the time it takes for the obstacle to travel at a constant speed obj _ v from the eighth current position (8O) to the second position (2C), t _D Represents the time taken for the obstacle to travel from the eighth current position (8O) to the third position (3D) at a speed obj _ v and an acceleration obj _ dec, ego _ dec represents the acceleration of the vehicle, obj _ length represents the length of the obstacle, ego _ width represents the width of the vehicle, t _B Representing the time it takes for the vehicle to travel at a uniform speed from the seventh current position (7O) to the first position (1B), ego _ forward _ dist representing the maximum forward perceived distance.

10. The method of claim 1, wherein if the road surface scene is a vertical crossing scene, the maximum perceived distance of the vehicle comprises: maximum forward sensing distance and maximum lateral sensing distance, the related quantities further including obstacle acceleration, vehicle width, vehicle length, obstacle length, and obstacle width;

the limiting conditions include:

11. The method of claim 10, wherein the relationship between the correlation quantities comprises:

ego_s＝ego_v*t _A

t _B ＝t _A +t _A-B ＝t _C

ego_forward_dist＝ego_s+obj_width

ego_side_dist＝obj_s

wherein, t _A-B Represents the time taken for the vehicle to travel at a constant speed from the eighth position (8A) to the fifth position (5B) at a maximum speed ego _ v, ego _ length represents the length of the vehicle, obj _ width represents the width of the obstacle, ego _ s represents the vehicle to travel at a constant speed from the ninth current position (9O) to the eighth position (8A) at a maximum speed ego _ vDistance of (d), t _A Represents the time taken by the vehicle to travel at a maximum speed ego _ v from the ninth current position (9O) to the eighth position (8A), obj _ s represents the distance traveled by the obstacle at a speed obj _ v from the tenth current position (10O) to the sixth position (6C), t _C Represents the time it takes for the obstacle to travel at a constant speed obj _ v from the tenth current position (10O) to the sixth position (6C), t _D Represents the time taken for the obstacle to travel from the tenth current position (10O) to the seventh position (7D) at a speed obj _ v and an acceleration obj _ dec, ego _ dec represents the acceleration of the vehicle, obj _ length represents the length of the obstacle, ego _ width represents the width of the vehicle, t _B Represents the time taken by the vehicle to travel at a constant speed from the ninth current position (9O) to the fifth position (5B), ego _ forward _ dist represents the maximum forward perceived distance, and ego _ side _ dist represents the maximum lateral perceived distance.

12. The method of claim 1, wherein if the road surface scene is a lane change scene, the correlation further comprises: a first safe distance, the vehicle maximum perceived distance comprising a maximum forward perceived distance;

the limiting conditions comprise that: and the distance traveled by the vehicle when the vehicle decelerates from the eleventh current position (11O) to the speed of 0 by taking the maximum limit speed as the initial speed is equal to the difference between the maximum forward sensing distance and the first safety distance.

13. The method of claim 12, wherein the relationship between the correlation quantities comprises:

ego_forward_dist＝ego_s+lane_change_min_dist

2*ego_dec*ego_s＝ego_v ²

14. The method of claim 1, wherein if the road surface scene is a crosswalk scene, the correlation further comprises: the distance sensing device comprises a first safety distance, a second safety distance, a third safety distance, a length of a vehicle, a length of an obstacle, a width of the obstacle and an acceleration of the obstacle, wherein the maximum sensing distance of the vehicle comprises a maximum forward sensing distance and a maximum lateral sensing distance;

the limiting conditions include: the vehicle is decelerated from a thirteenth current position (13O) to a ninth position (9A) at a speed of 0 at an initial speed by a first speed, the ninth position (9A) being a position at which the vehicle has not reached the crosswalk, the longitudinal distance from the crosswalk being equal to the second safety distance;

the time taken by the vehicle to travel at the second speed from the thirteenth current position (13O) to the tenth position (10B) at the constant speed is the same as the time taken by the obstacle to travel at the constant speed from the fourteenth current position (14O) to the eleventh position (11D), the tenth position (10B) being a position where the vehicle is located after passing the crosswalk;

the sum of the distance traveled by the vehicle when the vehicle is decelerated from a thirteenth current position (13O) to a speed of 0, the length of the vehicle, the width of the obstacle, and the second safety distance is equal to the maximum forward sensing distance, with the first speed as an initial speed;

the maximum speed is the lesser of the first speed and the second speed.

15. The method of claim 14, wherein the relationship between the correlation quantities comprises:

ego_forward_dist＝ego_s+ego_length+obj_width+pred_safe_dist

ego_side_dist＝obj_s+safe_dist

wherein ego _ forward _ dist represents the maximum forward perceived distance, ego _ s represents the vehicle at a first speed ego _ v ₁ -a distance travelled from the thirteenth current position (13O) with an acceleration ego _ dec decelerated to the ninth position (9A), ego _ length representing the length of the vehicle, obj _ width representing the width of the obstacle, pred _ safe _ dist representing the second safety distance, t _B Indicating that the vehicle is at a second speed ego _ v ₂ -the time taken to travel at a uniform speed from the thirteenth current position (13O) to the tenth position (10B), -ego _ side _ dist representing the maximum lateral perceived distance, -safe _ dist representing the third safe distance, -obj _ s representing the distance traveled by the obstacle at a uniform speed obj _ v from the fourteenth current position (14O) to the eleventh position (11D).

16. A vehicle speed limiting device, comprising:

the first determining module includes: a first determination unit configured to determine an obstacle within a detection range based on the vehicle-mounted sensing device; and the second determination unit is used for determining the current road scene of the vehicle according to the relative position of the obstacle and the vehicle and the planned path of the vehicle.

17. An electronic device, characterized in that the electronic device comprises:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-15.

18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-15.