CN114999165A - Vehicle speed determination method, system, medium, and apparatus - Google Patents
Vehicle speed determination method, system, medium, and apparatus Download PDFInfo
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- CN114999165A CN114999165A CN202110226448.5A CN202110226448A CN114999165A CN 114999165 A CN114999165 A CN 114999165A CN 202110226448 A CN202110226448 A CN 202110226448A CN 114999165 A CN114999165 A CN 114999165A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000008859 change Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
Abstract
The invention provides a vehicle speed determination method, a vehicle speed determination system, a vehicle speed determination medium and a vehicle speed determination device, wherein the method comprises the following steps: acquiring position information and self speed information of a vehicle, and sending the position information and the self speed information to a speed server; receiving the speed information of surrounding vehicles sent by the speed server; acquiring front vehicle identity information, and acquiring front vehicle speed information from surrounding vehicle speed information on the basis of the front vehicle identity information; and adjusting the vehicle speed of the vehicle to the front vehicle speed based on the front vehicle speed information. The invention discloses a vehicle speed determination method, a vehicle speed determination system, a vehicle speed determination medium and a vehicle speed determination device.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method, a system, a medium, and an apparatus for determining a vehicle speed.
Background
At present, the automatic driving adopts the laser radar of the vehicle to scan the distance between the vehicle and the front vehicle, and then the vehicle speed is dynamically adjusted by keeping the same distance with the front vehicle. But now high performance lidar is expensive and not cost-effective for low-grade autonomous driving. In low-level autonomous driving situations, it is more cost effective to use the approach described herein if certain judgment capabilities are needed to determine the speed of the vehicle in special situations.
It is therefore desirable to be able to solve the problem of vehicle autodrive based on lidar being too expensive.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a vehicle speed determination method, system, medium, and apparatus, which are used to solve the problem that the automatic driving of a vehicle based on a lidar is too expensive in the prior art.
To achieve the above and other related objects, the present invention provides a vehicle speed determining method, comprising the steps of: acquiring position information and self speed information of a vehicle, and sending the position information and the self speed information to a speed server; receiving the speed information of surrounding vehicles sent by the speed server; acquiring front vehicle identity information, and acquiring front vehicle speed information from surrounding vehicle speed information based on the front vehicle identity information; and adjusting the vehicle speed of the vehicle to the front vehicle speed based on the front vehicle speed information.
To achieve the above object, the present invention also provides a vehicle speed determination system including: the device comprises an acquisition module, a receiving module and an adjusting module; the acquisition module is used for acquiring the position information and the self speed information of the vehicle and sending the position information and the self speed information to the vehicle speed server; the receiving module is used for receiving the speed information of the surrounding vehicles sent by the speed server; acquiring front vehicle identity information, and acquiring front vehicle speed information from surrounding vehicle speed information on the basis of the front vehicle identity information; the adjusting module is used for adjusting the speed of the vehicle to the speed of the front vehicle based on the speed information of the front vehicle.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the above vehicle speed determination methods.
To achieve the above object, the present invention also provides a vehicle speed determination device comprising: a processor and a memory; the memory is used for storing a computer program; the processor is coupled to the memory for executing a computer program stored in the memory to cause the vehicle speed determination device to perform any of the vehicle speed determination methods described above.
Finally, the invention also provides a vehicle comprising the vehicle speed determination device.
As described above, a vehicle speed determination method, system, medium, and apparatus of the present invention have the following advantageous effects: for determining the speed of travel of the vehicle.
Drawings
FIG. 1a is a schematic view of an application scenario of a vehicle speed determination method according to an embodiment of the invention;
FIG. 1b is a flow chart illustrating a vehicle speed determination method according to an embodiment of the present invention;
FIG. 1c is a flow chart of a vehicle speed determination method according to another embodiment of the present invention;
FIG. 1d is a flow chart illustrating a vehicle speed determination method according to yet another embodiment of the present invention;
FIG. 1e is a flow chart illustrating a vehicle speed determination method according to yet another embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle speed determination system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle speed determining apparatus according to an embodiment of the invention.
Description of the element reference numerals
21 acquisition module
22 receiving module
23 adjusting module
31 processor
32 memory
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, so that the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of the components in actual implementation can be changed freely, and the layout of the components can be more complicated.
The invention provides a vehicle speed determination method, a vehicle speed determination system, a vehicle speed determination medium and a vehicle speed determination device.
As shown in fig. 1a, the vehicle speed determination method, system, medium, and apparatus of the present invention are applied in an application scenario of vehicle autonomous driving. The position information and the self speed information are uploaded to a speed server to obtain the speed information of the front vehicle, so that the speed of the vehicle is adjusted to be the speed of the front vehicle, and the automatic driving of the vehicle is realized.
As shown in fig. 1b, in one embodiment, the vehicle speed determining method of the present invention includes the following steps:
and step S11, acquiring the position information and the speed information of the vehicle, and sending the position information and the speed information to a speed server.
Specifically, the acquiring the position information of the vehicle includes: and acquiring the position information of the vehicle through a network or a vehicle-mounted GPS. The obtaining of the position information of the vehicle through the network is positioning through a base station: the base station positioning is generally applied to mobile phone users, and the mobile phone base station positioning Service is also called as mobile Location Service (LBS — Location Based Service), which is a value-added Service that obtains Location information (longitude and latitude coordinates) of mobile terminal users through a network (such as a GSM network) of a telecom mobile operator and provides corresponding services for the users under the support of an electronic map platform. And acquiring the current longitude and latitude coordinates of the vehicle through a network, and acquiring the position information of the vehicle under the support of an electronic map platform. The Global Positioning System (also called Global Positioning System) is a medium-distance circular orbit satellite navigation System. The device can provide accurate positioning, speed measurement and high-precision time standard for most of the area (98%) of the earth surface. The system is developed and maintained by the U.S. department of defense and can meet the requirements of military users located anywhere or in near-earth space around the world for continuously and accurately determining three-dimensional position, three-dimensional motion and time. The system comprises 24 GPS satellites in space; the system comprises 1 main control station, 3 data injection stations, 5 monitoring stations and a GPS receiver as a user side on the ground. The position and the altitude of the user terminal on the earth can be quickly determined by only 3 satellites at least; the more satellites that can be coupled, the more accurate the decoded position. And the vehicle-mounted GPS is the GPS receiver which is used as the user terminal. The vehicle-mounted GPS has various types, including a vehicle built-in DVD system navigator, an external portable vehicle-mounted navigator, a handheld PDA mobile phone navigation device, a Bluetooth GPS receiving module and the like.
Specifically, the acquiring of the own vehicle speed information of the vehicle includes: the vehicle speed sensor is used for acquiring the self vehicle speed information of the vehicle. The vehicle speed sensor includes: and a Hall sensor.
The vehicle speed server includes: and the cloud vehicle speed server is used for receiving the position information of all vehicles and the vehicle speed information of the vehicles, and sending the vehicle speed information of the surrounding vehicles to the vehicles based on the position information. Namely, the surrounding vehicles of the A vehicle are obtained based on the position information of the A vehicle, and the vehicle speed information of the surrounding vehicles of the A vehicle is sent to the A vehicle.
Specifically, the own vehicle speed information includes: the current speed and identity of the vehicle; the surrounding vehicle speed information includes: the surrounding vehicle speed and the surrounding vehicle identity.
Step S12, receiving the speed information of the surrounding vehicles sent by the speed server; the method comprises the steps of obtaining front vehicle identity information, and obtaining front vehicle speed information from surrounding vehicle speed information based on the front vehicle identity information.
Specifically, as shown in fig. 1c, the acquiring the identity information of the vehicle in front includes the following steps:
step S1211, a photograph of the preceding vehicle is acquired. Specifically, a picture of the preceding vehicle is acquired by the in-vehicle image pickup device.
And step S1212, acquiring a preset identification area image based on the photo. The preset identification area comprises a license plate area, namely, a license plate area image is obtained based on the photo.
And step S1213, sending the preset identification area image to a recognition server, and receiving the front vehicle identity information sent by the recognition server. And sending the license plate area image to a recognition server so that the recognition server recognizes the license plate area image to acquire the identity information of the front vehicle. Thereby receiving the front vehicle identity information sent by the identification server. Therefore, image preprocessing is performed at the vehicle end in advance, but the image preprocessing is not accurate, the difficulty of calculation at the vehicle end is reduced, and the pressure of the recognition server for recognizing the image is reduced.
Specifically, as shown in fig. 1d, the acquiring the identity information of the vehicle in front includes the following steps:
step S1221, a photograph of the preceding vehicle is acquired. Specifically, a picture of the preceding vehicle is acquired by the in-vehicle image pickup device.
And step S1222, obtaining the license plate number based on the photo. Specifically, a license plate area image is obtained based on the photo, and a license plate number corresponding to the license plate area image is identified based on an image identification algorithm.
And S1223, sending the license plate number to an identification server, and receiving the front vehicle identity information sent by the identification server. And sending the license plate number to an identification server so that the identification server identifies the license plate number to acquire the identity information of the front vehicle. Thereby receiving the front vehicle identity information sent by the identification server. Therefore, the image recognition is carried out at the vehicle end in advance, and the pressure of the recognition server for recognizing the image is reduced.
And a step S13 for adjusting the vehicle speed of the vehicle to the vehicle speed of the front vehicle based on the vehicle speed information of the front vehicle. Therefore, the automatic driving is realized by automatically driving along with the front vehicle, the automatic driving is realized, an expensive high-performance laser radar is not needed, and the cost is saved.
Specifically, as shown in 1e, the method further includes the following steps:
and step S141, when the vehicle needs to change the lane, acquiring the identity information of the vehicle in front of the lane after the lane change. If the vehicle changes lane, i.e. enters another lane from one lane, the vehicle ahead of the vehicle changes after the vehicle changes lane, and therefore the vehicle speed of the vehicle also needs to change along with the change of the vehicle ahead. And acquiring the identity information of the front vehicle after lane changing based on the vehicle-mounted camera device.
And S142, acquiring the speed information of the vehicles ahead after lane changing from the speed information of the surrounding vehicles based on the identity information of the vehicles ahead after lane changing. And finding out the corresponding lane-changing back and front vehicle from the surrounding vehicle speed information based on the identity information of the lane-changing back and front vehicle, thereby obtaining the lane-changing back and front vehicle speed information.
And step S143, after lane changing, adjusting the speed of the vehicle to the speed of the vehicle before the lane changing based on the speed information of the vehicle before the lane changing. This also enables automatic driving of the vehicle after the lane change.
As shown in fig. 2, in one embodiment, the vehicle speed determining system of the present invention includes an obtaining module 21, a receiving module 22 and an adjusting module 23; the acquisition module is used for acquiring the position information and the self speed information of the vehicle and sending the position information and the self speed information to the vehicle speed server; the receiving module is used for receiving the speed information of the surrounding vehicles sent by the speed server; acquiring front vehicle identity information, and acquiring front vehicle speed information from surrounding vehicle speed information on the basis of the front vehicle identity information; the adjusting module is used for adjusting the speed of the vehicle to the speed of the front vehicle based on the speed information of the front vehicle.
Specifically, the own vehicle speed information includes: the current speed and identity of the vehicle; the surrounding vehicle speed information includes: the surrounding vehicle speed and the surrounding vehicle identity.
Specifically, the lane changing module is used for: when a vehicle needs to change lanes, acquiring identity information of the front vehicle after lane change; acquiring the speed information of the vehicles in front after lane changing from the speed information of surrounding vehicles based on the identity information of the vehicles in front after lane changing; after lane changing, the vehicle speed of the vehicle is adjusted to the lane-changing front vehicle speed based on the lane-changing front vehicle speed information.
It should be noted that: the structures and principles of the obtaining module 21, the receiving module 22 and the adjusting module 23 correspond to the steps in the vehicle speed determining method one to one, and therefore, the description thereof is omitted.
It should be noted that the division of the modules of the above system is only a logical division, and all or part of the actual implementation may be integrated into one physical entity or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, a module may be a processing element that is set up separately, or may be implemented by being integrated into a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and a processing element of the apparatus calls and executes a function of the module. The other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Specific Integrated circuits (ASICs), or one or more Microprocessors (MPUs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. As another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
In an embodiment of the present invention, the present invention further includes a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements any of the above-mentioned vehicle speed determination methods.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
As shown in fig. 3, in one embodiment, the vehicle speed determining apparatus of the present invention includes: a processor 31 and a memory 32; the memory 32 is for storing a computer program; the processor 31 is connected to the memory 32 and is configured to execute a computer program stored in the memory 32 to cause the vehicle speed determination apparatus to execute any one of the vehicle speed determination methods.
Specifically, the memory 32 includes: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
Preferably, the Processor 31 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
In an embodiment, the vehicle of the present invention includes the vehicle speed determination device. The vehicle is used for acquiring the speed information of the front vehicle based on the vehicle speed determination device; and adjusting the vehicle speed of the vehicle to the front vehicle speed based on the front vehicle speed information. Automatic driving of the vehicle is achieved.
In summary, the vehicle speed determination method, system, medium, and apparatus of the present invention are used to determine a traveling speed of a vehicle. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (11)
1. A vehicle speed determination method, characterized by comprising the steps of:
acquiring position information and self speed information of a vehicle, and sending the position information and the self speed information to a speed server;
receiving the speed information of surrounding vehicles sent by the speed server; acquiring front vehicle identity information, and acquiring front vehicle speed information from surrounding vehicle speed information on the basis of the front vehicle identity information;
and adjusting the vehicle speed of the vehicle to the front vehicle speed based on the front vehicle speed information.
2. The vehicle speed determination method according to claim 1, the own vehicle speed information including: the current speed and identity of the vehicle; the surrounding vehicle speed information includes: the surrounding vehicle speed and the surrounding vehicle identity.
3. The vehicle speed determination method according to claim 1, further comprising the steps of:
when a vehicle needs to change lanes, acquiring identity information of the front vehicle behind the lane change;
acquiring the speed information of the vehicles in front after lane changing from the speed information of surrounding vehicles based on the identity information of the vehicles in front after lane changing;
after lane changing, the vehicle speed of the vehicle is adjusted to the lane-changing front vehicle speed based on the lane-changing front vehicle speed information.
4. The vehicle speed determination method according to claim 1, the acquiring preceding vehicle identification information comprising the steps of:
acquiring a picture of a front vehicle;
acquiring a preset identification area image based on the picture;
and sending the preset identification area image to an identification server, and receiving the identity information of the front vehicle sent by the identification server.
5. The vehicle speed determination method according to claim 1, the acquiring preceding vehicle identification information comprising the steps of:
acquiring a picture of a front vehicle;
acquiring a license plate number based on the photo;
and sending the license plate number to an identification server, and receiving the front vehicle identity information sent by the identification server.
6. A vehicle speed determination system, comprising: the device comprises an acquisition module, a receiving module and an adjusting module;
the acquisition module is used for acquiring the position information and the speed information of the vehicle and sending the position information and the speed information to the speed server;
the receiving module is used for receiving the speed information of the surrounding vehicles sent by the speed server; acquiring front vehicle identity information, and acquiring front vehicle speed information from surrounding vehicle speed information on the basis of the front vehicle identity information;
the adjusting module is used for adjusting the speed of the vehicle to the speed of the front vehicle based on the speed information of the front vehicle.
7. The vehicle speed determination system according to claim 5, the own vehicle speed information including: the current speed and identity of the vehicle; the surrounding vehicle speed information includes: the surrounding vehicle speed and the surrounding vehicle identity.
8. The vehicle speed determination system of claim 5, further comprising a lane change module to:
when a vehicle needs to change lanes, acquiring identity information of the front vehicle behind the lane change;
acquiring the speed information of the vehicles in front after lane changing from the speed information of surrounding vehicles based on the identity information of the vehicles in front after lane changing;
after lane changing, the vehicle speed of the vehicle is adjusted to the lane-changing front vehicle speed based on the lane-changing front vehicle speed information.
9. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to implement the vehicle speed determination method according to any one of claims 1 to 5.
10. A vehicle speed determination apparatus, characterized by comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is connected to the memory for executing the computer program stored in the memory to cause the vehicle speed determination apparatus to execute the vehicle speed determination method according to any one of claims 1 to 5.
11. A vehicle, characterized by comprising: a vehicle speed determination apparatus as defined in claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110226448.5A CN114999165A (en) | 2021-03-01 | 2021-03-01 | Vehicle speed determination method, system, medium, and apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110226448.5A CN114999165A (en) | 2021-03-01 | 2021-03-01 | Vehicle speed determination method, system, medium, and apparatus |
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