CN115431973A - Method, device, equipment, storage medium and vehicle for determining speed limit information - Google Patents
Method, device, equipment, storage medium and vehicle for determining speed limit information Download PDFInfo
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- CN115431973A CN115431973A CN202210963733.XA CN202210963733A CN115431973A CN 115431973 A CN115431973 A CN 115431973A CN 202210963733 A CN202210963733 A CN 202210963733A CN 115431973 A CN115431973 A CN 115431973A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
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- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the application provides a method, a device, equipment, a storage medium and a vehicle for determining speed limit information, wherein the method comprises the steps of obtaining first speed limit information of a current road section driven by the vehicle, second speed limit information of the current road section in a high-precision map and third speed limit information of the current road section in a navigation map, the first speed limit information is information obtained by identifying a guideboard image of the current road section, and the guideboard image comprises the speed limit information; under the condition that the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; determining the third speed limit information as the target speed limit information under the condition that the first speed limit information does not comprise the speed limit value and the third speed limit information comprises the target type speed limit information; and under the condition that the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information, determining that the second speed limit information is the target speed limit information. According to the embodiment of the application, the accuracy of speed limit information and the accuracy of vehicle speed regulation are improved.
Description
Technical Field
The application belongs to the technical field of automatic driving, and particularly relates to a method, a device, equipment, a storage medium and a vehicle for determining speed limit information.
Background
With the rapid development of the automatic driving technology, the assistant driving system is more and more pursuing to provide more comfortable driving experience for the user.
At present, an auxiliary driving system mainly controls acceleration and deceleration of a vehicle through speed limit information of a high-precision map, however, the accuracy of the speed limit information of the high-precision map is low, and the accuracy of vehicle speed adjustment is low.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment, a storage medium and a vehicle for determining speed limit information, which can improve the accuracy of the speed limit information and further improve the accuracy of vehicle speed regulation.
In a first aspect, an embodiment of the present application provides a method for determining speed limit information, where the method includes:
acquiring first speed limit information of a current road section driven by a vehicle, second speed limit information of the current road section in a high-precision map, and third speed limit information of the current road section in a navigation map; the first speed limit information is information obtained by identifying a guideboard image of a current road section, and the guideboard image comprises speed limit information;
under the condition that the first speed limit information comprises a speed limit value, determining that the first speed limit information is target speed limit information;
determining that the third speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information includes the target type speed limit information;
and under the condition that the first speed limit information does not include a speed limit value and the third speed limit information does not include target type speed limit information, determining that the second speed limit information is the target speed limit information.
In one embodiment, the method further comprises:
and under the condition that the first speed limit information, the second speed limit information and the third speed limit information comprise speed limit values and the second speed limit information is not consistent with the speed limit values in the third speed limit information, sending the first speed limit information to control equipment, so that the control equipment adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
In one embodiment, the target-type speed limit information includes electronic-eye speed limit information, and the method further includes:
acquiring fourth speed limit information of a next road section where a vehicle runs in a navigation map, wherein the fourth speed limit information comprises electronic eye speed limit information and electronic eye position information;
and under the condition that the distance between the position of the vehicle and the position of the electronic eye is within a preset distance, determining the fourth speed limit information as the target speed limit information.
In one embodiment, the method further comprises:
and when the vehicle running road section changes or the first speed limit information comprises speed limit releasing information, determining that the second speed limit information is target speed limit information.
In one embodiment, the method further comprises:
acquiring the instrument display speed of the vehicle when a navigation auxiliary driving function is activated;
determining the greater speed of the target speed limit information and the instrument display speed as a target speed;
and running based on the target vehicle speed.
In one embodiment, the method further comprises:
when the type of the vehicle driving road section is changed from a first road type to a second road type, adjusting the target vehicle speed to a preset speed, wherein the first road type comprises a main road, and the second road type comprises a ramp, a deceleration lane or an acceleration lane.
In one embodiment, the method further comprises:
generating prompt information according to the target speed limit information, wherein the prompt information comprises a speed limit value;
and outputting prompt information.
In a second aspect, an embodiment of the present application provides a device for determining speed limit information, where the device for determining speed limit information includes:
the acquisition module is used for acquiring first speed limit information of a current road section where the vehicle runs, second speed limit information of the current road section in a high-precision map and third speed limit information of the current road section in a navigation map; the first speed limit information is information obtained by identifying a guideboard image of a current road section, and the guideboard image comprises speed limit information;
the determining module is used for determining the first speed limit information as target speed limit information under the condition that the first speed limit information comprises a speed limit value;
the determining module is further used for determining the third speed limit information as the target speed limit information under the condition that the first speed limit information does not comprise a speed limit value and the third speed limit information comprises the target type speed limit information;
and the determining module is also used for determining the second speed limit information as the target speed limit information under the condition that the first speed limit information does not comprise a speed limit value and the third speed limit information does not comprise target type speed limit information.
In one embodiment, the device for determining the speed limit information further comprises a sending module;
and the sending module is used for sending the first speed limit information to control equipment under the condition that the first speed limit information, the second speed limit information and the third speed limit information all comprise speed limit values, and the second speed limit information is inconsistent with the speed limit values in the third speed limit information, so that the control equipment adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
In one embodiment, the target type speed limit information includes electronic eye speed limit information;
the acquisition module is also used for acquiring fourth speed limit information of a next road section where the vehicle runs in the navigation map, wherein the fourth speed limit information comprises electronic eye speed limit information and the position of an electronic eye;
the determining module is further configured to determine that the fourth speed limit information is the target speed limit information when the distance between the position of the vehicle and the position of the electronic eye is within a preset distance.
In an embodiment, the determining module is further configured to determine that the second speed limit information is target speed limit information when the vehicle driving road section changes or the first speed limit information includes speed limit releasing information.
In one embodiment, the device for determining the speed limit information further comprises a driving module;
the acquisition module is also used for acquiring the instrument display speed of the vehicle when the navigation auxiliary driving function is activated;
the determining module is also used for determining the larger speed of the target speed limit information and the instrument display speed as a target speed;
and the driving module is used for driving based on the target vehicle speed.
In one embodiment, the device for determining the speed limit information further comprises an adjusting module;
and the adjusting module is used for adjusting the target speed to a preset speed when the type of the vehicle driving road section is changed from a first road type to a second road type, wherein the first road type comprises a main road, and the second road type comprises a ramp, a deceleration lane or an acceleration lane.
In one embodiment, the device for determining the speed limit information further comprises a generating module and an output module;
the generating module is used for generating prompt information according to the target speed limit information, and the prompt information comprises a speed limit value;
and the output module is used for outputting the prompt message.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements a method of determining speed limit information as described in any of the embodiments of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer storage medium, where computer program instructions are stored on the computer storage medium, and when executed by a processor, the computer program instructions implement the method for determining speed limit information as described in any embodiment of the first aspect.
In a fifth aspect, embodiments of the present application provide a vehicle, including at least one of: determination means for speed limit information as in the second aspect; the electronic device of the third aspect; such as the computer storage medium of the fourth aspect.
According to the method, the device, the equipment, the storage medium and the vehicle for determining the speed limit information, the first speed limit information of the current road section where the vehicle runs, the second speed limit information of the current road section in the high-precision map and the third speed limit information of the current road section in the navigation map are obtained, wherein the first speed limit information is information obtained by identifying the guideboard image of the current road section, and the guideboard image comprises the speed limit information, so that comprehensive verification of the speed limit information of three different ways is facilitated, and more accurate speed limit information is selected. Then, under the condition that the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; determining that the third speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information includes the target type speed limit information; under the condition that the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information, the second speed limit information is determined to be the target speed limit information, so that the accuracy of the speed limit information can be improved by arbitrating the speed limit information of multiple paths, and the accuracy of vehicle speed regulation is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for determining speed limit information according to an embodiment of the present application;
fig. 2 is a second flowchart of a method for determining speed limit information according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a device for determining speed limit information according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.
The Navigation assistant driving (NOA) function is realized based on a Navigation map and a high-precision map on the basis of an Advanced Driver Assistance System (ADAS), so that a Driver can realize intelligent cruise control of the speed on a closed loop and an expressway, can automatically exceed a slow-moving vehicle ahead, can automatically switch loops or expressways according to Navigation, and can automatically drive in and out of ramps. With the development of the current technology, the driving assistance system pursues to provide users with a more comfortable and intelligent driving experience.
At present, the acceleration and deceleration control of a vehicle is usually carried out according to high-precision map speed limit information, however, the accuracy of the speed limit information is low, so that the problem of abrupt speed regulation can be caused in some road sections.
In order to solve the above problems, embodiments of the present application provide a method, an apparatus, a device, and a computer storage medium for determining speed limit information, where the method for determining speed limit information may obtain first speed limit information of a current road section where a vehicle is traveling, second speed limit information of the current road section in a high-precision map, and third speed limit information of the current road section in a navigation map, where the first speed limit information is information obtained by identifying a guideboard image of the current road section, and the guideboard image includes the speed limit information, so that comprehensive verification of speed limit information of three different approaches is facilitated, and more accurate speed limit information is selected. Secondly, under the condition that the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; determining that the third speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information includes the target type speed limit information; and under the condition that the first speed limit information does not comprise the speed limit value and the third speed limit information does not comprise the target type speed limit information, determining the second speed limit information as the target speed limit information, thus, arbitrating the speed limit information of multiple paths, improving the accuracy of the speed limit information and further improving the accuracy of vehicle speed regulation. First, a method for determining speed limit information provided in the embodiment of the present application is described below.
Fig. 1 is a schematic flow chart illustrating a method for determining speed limit information according to an embodiment of the present application, where an execution subject of the method for determining speed limit information may be a controller. It should be noted that the execution body does not constitute a limitation of the present application.
As shown in fig. 1, the method for determining the speed limit information may specifically include the following steps:
s110, acquiring first speed-limiting information of a current road section where the vehicle runs, second speed-limiting information of the current road section in a high-precision map, and third speed-limiting information of the current road section in a navigation map, wherein the first speed-limiting information is information obtained by identifying a guideboard image of the current road section, and the guideboard image can comprise the speed-limiting information.
The current road segment may be a road segment on which the vehicle is traveling. The guideboard image may be an image of a roadside guideboard of the current road segment, and specifically, the roadside guideboard of the current road segment may be photographed by using a camera to obtain the guideboard image, where the camera may be disposed inside or outside the vehicle, which is not limited herein.
The High-precision Map may be a High Definition Map (HD Map) for an automatic driving service, the navigation Map may be an on-vehicle Standard Definition Map (SD Map), and the navigation Map and the High-precision Map may be pre-stored off-line maps. The second speed limit information and the third speed limit information comprise speed limit values.
It should be noted that, in the traffic field, a road segment may be a traffic line between two adjacent nodes on a traffic network.
And S120, under the condition that the first speed limit information comprises the speed limit value, determining the first speed limit information as target speed limit information.
And if the speed limit value is identified when the guideboard image of the current road section is identified, determining the first speed limit information as the target speed limit information.
As an example, in the process of driving of a vehicle on a current road segment, speed limit information in a guideboard image where the vehicle is driving is acquired through a camera in the vehicle, and if the speed limit information output by the camera includes a speed limit value, for example, the speed limit information includes 60 kilometers per hour (kph), the speed limit information is output as a speed limit result.
And S130, under the condition that the first speed limit information does not include the speed limit value and the third speed limit information includes the target type speed limit information, determining the third speed limit information as the target speed limit information.
The third speed limit information may include a speed limit type of the speed limit information, and if the speed limit value is not recognized when the guideboard image of the current road segment is recognized, the first speed limit information acquired at this time is a null value, and the target type speed limit information of the current road segment in the navigation map is acquired, the third speed limit information is determined as the target speed limit information, wherein the target type speed limit information may be electronic eye speed limit information.
As an example, in the process of driving of a vehicle on a current road section, speed limit information in a guideboard image on which the vehicle is driven is acquired through a camera in the vehicle, the speed limit information of the current road section in a navigation map is acquired, if the speed limit information output by the camera does not have a speed limit value, whether the speed limit information of the current road section in the navigation map is electronic eye speed limit information is judged, and if yes, the speed limit information of the current road section in the navigation map is output as a speed limit result.
And S140, under the condition that the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information, determining that the second speed limit information is the target speed limit information.
If the speed limit value is not identified when the guideboard image of the current road section is identified, namely the acquired first speed limit information is an empty value, and the speed limit information of the current road section in the navigation map is not the target type speed limit information, for example, the speed limit information of the current road section is the signboard speed limit information on a road, legal speed limit information without a speed limit sign, special road section speed limit information or special weather speed limit information, and the like, the second speed limit information is determined as the target speed limit information.
As an example, during the running process of a vehicle on a current road section, speed limit information in a guideboard image of the running vehicle is obtained through a camera in the vehicle, and speed limit information in a navigation map and a high-precision map is obtained. And if the speed limit information output by the camera does not have a speed limit value and the speed limit information in the navigation map is not the electronic eye speed limit information, outputting the speed limit information in the high-precision map as a speed limit result.
In the embodiment of the application, the first speed limit information of the current road section of the vehicle running, the second speed limit information of the current road section in the high-precision map and the third speed limit information of the current road section in the navigation map are obtained, wherein the first speed limit information is information obtained by identifying the guideboard image of the current road section, and the guideboard image comprises the speed limit information, so that the comprehensive verification of the speed limit information of three different ways is facilitated, and more accurate speed limit information is selected. Secondly, under the condition that the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; determining the third speed limit information as the target speed limit information under the condition that the first speed limit information does not comprise the speed limit value and the third speed limit information comprises the target type speed limit information; under the condition that the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information, the second speed limit information is determined to be the target speed limit information, so that the accuracy of the speed limit information can be improved by arbitrating the speed limit information of multiple paths, and the accuracy of vehicle speed regulation is further improved.
In some embodiments, the method for determining the speed limit information may further include:
and under the condition that the first speed limit information, the second speed limit information and the third speed limit information all comprise speed limit values, and the second speed limit information is inconsistent with the speed limit values in the third speed limit information, sending the first speed limit information to the control equipment, so that the control equipment adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information, and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
And judging whether the speed limit value in the second speed limit information is consistent with the speed limit value in the third speed limit information, and if the speed limit value in the second speed limit information is inconsistent with the speed limit value in the third speed limit information, sending the first speed limit information to control equipment, wherein the control equipment can be equipment comprising a control system in a vehicle.
And after receiving the first speed limit information, the control equipment updates the speed limit information of the current road section in the high-precision map and the navigation map, adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information, and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
As one example, during the driving of the vehicle, the speed limit information a in the guideboard image of the vehicle on the current road section is acquired through a camera in the vehicle, and the speed limit information B of the HD Map on the current road section and the speed limit information C of the SD Map on the current road section are acquired. And judging whether the speed limit values in the speed limit information B and the speed limit information C are different, if so, reporting the data by taking the speed limit information A output by the camera as a true value, and reporting the data to the control equipment of the vehicle. And after receiving the speed limit information A output by the camera, the control equipment adjusts the speed limit information B of the current road section in the HD Map into the speed limit information A and adjusts the speed limit information C of the current road section in the SD Map into the speed limit information A.
In the embodiment of the application, under the condition that the first speed limit information, the second speed limit information and the third speed limit information all comprise speed limit values and the second speed limit information is inconsistent with the speed limit values in the third speed limit information, the first speed limit information is sent to the control equipment, so that the control equipment adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
In some embodiments, the target-type speed limit information may include electronic-eye speed limit information, and the method of determining the speed limit information may further include:
acquiring fourth speed-limiting information of a next road section where the vehicle runs in the navigation map, wherein the fourth speed-limiting information comprises electronic eye speed-limiting information and the position of an electronic eye;
and under the condition that the distance between the position of the vehicle and the position of the electronic eye is within the preset distance, determining the fourth speed limit information as the target speed limit information.
The next segment may be determined based on a route entered by the user in the navigation map. The fourth speed limit information may be the speed limit information of the next road section acquired from the navigation map, and may include electronic eye speed limit information and electronic eye position information.
And acquiring the position of the vehicle, calculating the distance between the position of the vehicle and the position of the electronic eye, and if the distance is within a preset distance, determining that the fourth speed limit information is the target speed limit information, wherein the preset distance can be any threshold value preset by a user, and can be 200 meters, for example.
As an example, in the vehicle driving process, speed limit information D of a next road section where the vehicle is driven in the navigation map is obtained in advance, if the speed limit type of the speed limit information D is electronic eye speed limit information, the position of the electronic eye and the current position of the vehicle are obtained, and when the vehicle drives to a position 200 meters ahead of the electronic eye, that is, when the distance between the position of the vehicle and the position of the electronic eye is 200 meters, the speed limit information D in the navigation map is output as a speed limit result. In addition, the speed limit information D is maintained as the output speed limit result within a distance that the vehicle travels through the electronic eye.
In the embodiment of the application, the fourth speed limit information of the next road section where the vehicle runs in the navigation map is obtained, wherein the fourth speed limit information comprises the electronic eye speed limit information and the position of the electronic eye, and the fourth speed limit information is determined to be the target speed limit information under the condition that the distance between the position of the vehicle and the position of the electronic eye is within the preset distance, so that the speed limit information of the next road section in the navigation map can be obtained in advance, and when the speed limit information is the speed limit type of the electronic eye, the preset distance is switched to the speed limit information of the navigation map in advance, and the overspeed behavior of a driver is effectively avoided.
In some embodiments, the method for determining the speed limit information may further include:
and when the vehicle running road section changes or the first speed limit information comprises speed limit releasing information, determining the second speed limit information as target speed limit information.
The speed limit releasing information may be a speed limit releasing instruction or identification information obtained by recognizing the guideboard image.
Illustratively, if the target speed limit information of the vehicle on the current road section is the first speed limit information or the third road information, when the vehicle driving road section changes or the speed limit releasing information is recognized from the guideboard image, the target speed limit information is switched to the second speed limit information.
As an example, during the driving process of the vehicle, the speed limit result of the current driving road section is output to be speed limit information in a navigation map, the speed limit value is 60kph, the speed limit type is electronic eye speed limit information, and the vehicle keeps the speed limit value of the electronic eye at 60kph within a certain distance after driving through the electronic eye. When the vehicle turns to run to another road or acquires the speed-limiting releasing information (visual information) in the front speed-limiting releasing board through the camera, the speed-limiting result of the current running road section is output as the speed-limiting information in the high-precision map. In addition, when new speed limit information exists in the front guideboard image or new electronic eye speed limit information exists in a certain distance (300 meters, adjustable) in front is acquired through the camera, the speed limit result of the current running road section is output as the speed limit information in the high-precision map, or the speed limit result of the current running road section can be output as the new speed limit information or the new electronic eye speed limit information.
In the embodiment of the application, when the vehicle driving road section changes or the first speed limit information comprises the speed limit releasing information, the second speed limit information is determined to be the target speed limit information, the way of the speed limit information can be quickly converted when the vehicle driving road section changes, and the efficiency and the accuracy of acquiring the speed limit information are improved.
As shown in fig. 2, in some embodiments, the method for determining the speed limit information may further include the following steps S150 to S170:
and S150, acquiring the instrument display speed of the vehicle when the navigation auxiliary driving function is activated.
And S160, determining the larger speed of the target speed limit information and the instrument display speed as the target speed.
And S170, running based on the target vehicle speed.
The Navigation aid driving function (NOA) may be a Navigation aid driving function implemented based on Navigation and a high-precision map. When the navigation auxiliary driving function is activated, the instrument display speed and the target speed limit information of the vehicle are obtained, wherein the instrument display speed can be the speed displayed on the current instrument panel of the vehicle, namely the current running speed of the vehicle.
Of vehiclesTarget vehicle speed spd target Take max (spd) display ,spd limit ) Wherein spd display Displaying vehicle speed, spd, for a vehicle meter limit And the speed limit information is the target speed limit information, and then the vehicle runs at the target speed.
As an example, at the time when the NOA function of the vehicle is activated, if it is obtained that the meter-displayed vehicle speed of the vehicle is 80kph and the speed limit result is 60kph, the greater meter-displayed vehicle speed of 80kph in the meter-displayed vehicle speed and the speed limit result is taken as the target vehicle speed of the vehicle, and the vehicle runs at 80 kph; if the displayed speed of the instrument of the acquired vehicle is 50kph and the speed limit result is 60kph, the larger speed limit result 60kph in the displayed speed of the instrument and the speed limit result is taken as the target speed of the vehicle, and the vehicle runs at 60kph.
In the embodiment of the application, the instrument display speed of the vehicle is acquired when the navigation auxiliary driving function is activated, and the larger speed of the target speed limit information and the instrument display speed is determined to be the target speed, so that the vehicle runs based on the target speed.
In some embodiments, the method for determining the speed limit information may further include:
and adjusting the target vehicle speed to a preset speed when the type of the vehicle driving section is changed from the first road type to the second road type.
Wherein the first road type may include a main road, and the second road type may include a ramp, a deceleration lane, or an acceleration lane.
When the type of the road on which the vehicle runs changes, if the change is from the first road type to the second road type, the target vehicle speed is adjusted to a preset speed, wherein the preset speed can be any speed preset by a user, and can be 60kph, for example.
In some embodiments, when the type of the vehicle-traveling section is the first road type, the target vehicle speed is changed following the speed limit value in the target speed limit information.
In some embodiments, upon receiving a user command to adjust the target vehicle speed, the target vehicle speed is modified to the commanded speed. For example, if the driver adjusts the cruise target vehicle speed, the target vehicle speed spd of the vehicle target The vehicle speed adjusted by the driver is set. Therefore, the speed of manual adjustment of the user can be prioritized, and the driving experience of the user is improved.
When the function degradation occurs while the navigation assistance driving function is activated, the target vehicle speed is set to be a smaller speed of 60kph and the current target vehicle speed. Therefore, when the navigation auxiliary driving function is reduced, the reaction time is given to the driver, and the driving experience is improved.
As an example, during the running process of the vehicle, the speed limit result of the vehicle is obtained, and if the vehicle is recognized to run on the main road, the current vehicle target speed is set to follow the speed limit value in the speed limit result for changing. And if the vehicle is identified to drive into the ramp from the main road, setting the current target vehicle speed of the vehicle to be 60kph. However, if the current vehicle target speed is the driver-adjusted speed, the target speed is maintained at the current vehicle target speed, which cannot exceed 80kph, and if the current vehicle target speed is greater than 80kph, the current vehicle target speed is set to 80kph.
In the embodiment of the application, when the type of the road section on which the vehicle runs is changed from a first road type to a second road type, the target vehicle speed is adjusted to be the preset speed, the first road type comprises a main road, and the second road type comprises a ramp, a deceleration lane or an acceleration lane. Therefore, the speed can be adjusted according to the type of the road on which the vehicle runs, and the vehicle runs according to the preset speed when the type of the road changes, so that the driving safety of a user is ensured.
In some embodiments, the method for determining the speed limit information may further include:
generating prompt information according to the target speed limit information, wherein the prompt information can comprise a speed limit value;
and outputting prompt information.
The prompt message can be used for prompting the speed limit value of the road in front of the user and can be output to the man-machine interaction interface through the control device of the vehicle, for example, the control device of the vehicle controls the prompt message to be output to the interface of the display device and controls the display device to display the prompt message. The control device of the vehicle performs speed adjustment based on the speed limit value.
In the embodiment of the application, the prompt information is generated according to the target speed limit information, the prompt information comprises the speed limit value, and the prompt information is output, so that the driver can be prompted with more effective speed limit information, and the driving experience of the user is further improved.
Fig. 3 is a schematic structural diagram illustrating a device 300 for determining speed limit information according to an exemplary embodiment.
As shown in fig. 3, the apparatus 300 for determining speed limit information may include:
the acquisition module 301 is configured to acquire first speed limit information of a current road section where a vehicle runs, second speed limit information of the current road section in a high-precision map, and third speed limit information of the current road section in a navigation map; the first speed limit information is information obtained by identifying a guideboard image of the current road section, and the guideboard image comprises speed limit information;
a determining module 302, configured to determine that the first speed limit information is target speed limit information when the first speed limit information includes a speed limit value;
the determining module 302 is further configured to determine that the third speed limit information is the target speed limit information when the first speed limit information does not include the speed limit value and the third speed limit information includes the target type speed limit information;
the determining module 302 is further configured to determine that the second speed limit information is the target speed limit information when the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information.
In one embodiment, the apparatus 300 for determining speed limit information may further include a sending module;
and the sending module is used for sending the first speed limit information to the control equipment under the condition that the first speed limit information, the second speed limit information and the third speed limit information all comprise speed limit values, and the second speed limit information is inconsistent with the speed limit values in the third speed limit information, so that the control equipment adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
In one embodiment, the target type speed limit information may include electronic eye speed limit information;
the acquisition module 301 is further configured to acquire fourth speed limit information of a next road segment where the vehicle runs in the navigation map, where the fourth speed limit information includes electronic eye speed limit information and a position of an electronic eye;
the determining module 302 is further configured to determine that the fourth speed limit information is the target speed limit information when the distance between the position of the vehicle and the position of the electronic eye is within the preset distance.
In one embodiment, the determining module is further configured to determine that the second speed limit information is the target speed limit information when the vehicle driving road section changes or the first speed limit information includes the speed limit releasing information.
In one embodiment, the device 300 for determining speed limit information may further include a driving module;
the acquisition module 301 is further configured to acquire an instrument display speed of the vehicle when the navigation assistant driving function is activated;
the determining module 302 is further configured to determine that a larger speed of the target speed limit information and the meter display speed is a target speed;
and the driving module is used for driving based on the target vehicle speed.
In one embodiment, the apparatus 300 for determining speed limit information may further include an adjusting module;
the adjusting module is used for adjusting the target speed to be a preset speed when the type of the vehicle driving road section is changed from a first road type to a second road type, the first road type comprises a main road, and the second road type comprises a ramp, a deceleration lane or an acceleration lane.
In one embodiment, the apparatus 300 for determining speed limit information may further include a generating module and an outputting module;
the generating module is used for generating prompt information according to the target speed limit information, and the prompt information comprises a speed limit value;
and the output module is used for outputting the prompt message.
Therefore, the first speed limit information of the current road section of the vehicle running, the second speed limit information of the current road section in the high-precision map and the third speed limit information of the current road section in the navigation map are obtained, wherein the first speed limit information is information obtained by identifying the guideboard image of the current road section, and the guideboard image comprises the speed limit information, so that comprehensive verification of the speed limit information of three different ways is facilitated, and more accurate speed limit information is selected. Secondly, under the condition that the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; determining that the third speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information includes the target type speed limit information; and under the condition that the first speed limit information does not comprise the speed limit value and the third speed limit information does not comprise the target type speed limit information, determining the second speed limit information as the target speed limit information, thus, arbitrating the speed limit information of multiple paths, improving the accuracy of the speed limit information and further improving the accuracy of vehicle speed regulation.
Fig. 4 shows a hardware schematic diagram of an electronic device provided in an embodiment of the present application.
The electronic device may include a processor 401 and a memory 302 in which computer program instructions are stored.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.
The memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform operations described with reference to the method according to an aspect of the disclosure.
The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement the determination method of the speed limit information in any one of the above-described embodiments.
In one example, the electronic device may also include a communication interface 403 and a bus 410. As shown in fig. 4, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application.
The bus 410 includes hardware, software, or both to couple the components of the speed limit information determining device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 410 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.
The electronic device can execute the method for determining the speed limit information in the embodiment of the application on the basis of acquiring the first speed limit information of the current road section where the vehicle runs, the second speed limit information of the current road section in the high-precision map and the third speed limit information of the current road section in the navigation map, wherein the first speed limit information is information obtained by identifying the guideboard image of the current road section, and the guideboard image comprises the speed limit information, so that the method for determining the speed limit information described in combination with the graph 1 is realized.
In addition, in combination with the determination method of the speed limit information in the foregoing embodiments, the embodiments of the present application may provide a computer storage medium to implement. The computer storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement the method for determining speed limit information in any of the above embodiments.
The embodiment of the invention also provides a vehicle, which at least comprises at least one of the determining device of the speed limit information, electronic equipment and a computer storage medium.
It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps, after comprehending the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an Erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, an optical fiber medium, a Radio Frequency (RF) link, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood 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 for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.
Claims (11)
1. A method for determining speed limit information, the method comprising:
acquiring first speed-limiting information of a current road section where a vehicle runs, second speed-limiting information of the current road section in a high-precision map, and third speed-limiting information of the current road section in a navigation map, wherein the first speed-limiting information is information obtained by identifying a guideboard image of the current road section, and the guideboard image comprises the speed-limiting information;
under the condition that the first speed limit information comprises a speed limit value, determining that the first speed limit information is target speed limit information;
determining that the third speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information includes the target type speed limit information;
and under the condition that the first speed limit information does not comprise a speed limit value and the third speed limit information does not comprise target type speed limit information, determining the second speed limit information as the target speed limit information.
2. The method of claim 1, further comprising:
and under the condition that the first speed limit information, the second speed limit information and the third speed limit information comprise speed limit values and the second speed limit information is not consistent with the speed limit values in the third speed limit information, sending the first speed limit information to control equipment, so that the control equipment adjusts the second speed limit information of the current road section in the high-precision map into the first speed limit information and adjusts the third speed limit information of the current road section in the navigation map into the first speed limit information.
3. The method according to claim 1, wherein the target-type speed limit information includes electronic-eye speed limit information, the method further comprising:
acquiring fourth speed limit information of a next road section where a vehicle runs in a navigation map, wherein the fourth speed limit information comprises electronic eye speed limit information and electronic eye position information;
and under the condition that the distance between the position of the vehicle and the position of the electronic eye is within a preset distance, determining the fourth speed limit information as the target speed limit information.
4. The method of claim 1, further comprising:
and when the vehicle running road section changes or the first speed limit information comprises speed limit releasing information, determining that the second speed limit information is target speed limit information.
5. The method of claim 1, further comprising:
acquiring the instrument display speed of the vehicle when a navigation auxiliary driving function is activated;
determining the greater speed of the target speed limit information and the instrument display speed as a target speed;
and running based on the target vehicle speed.
6. The method of claim 5, further comprising:
when the type of the vehicle driving road section is changed from a first road type to a second road type, adjusting the target vehicle speed to a preset speed, wherein the first road type comprises a main road, and the second road type comprises a ramp, a deceleration lane or an acceleration lane.
7. The method of claim 1, further comprising:
generating prompt information according to the target speed limit information, wherein the prompt information comprises a speed limit value;
and outputting the prompt information.
8. An apparatus for determining speed limit information, the apparatus comprising:
the acquisition module is used for acquiring first speed limit information of a current road section where the vehicle runs, second speed limit information of the current road section in a high-precision map and third speed limit information of the current road section in a navigation map; the first speed limit information is information obtained by identifying a guideboard image of a current road section, and the guideboard image comprises speed limit information;
the determining module is used for determining the first speed limit information as target speed limit information under the condition that the first speed limit information comprises a speed limit value;
the determining module is further used for determining that the third speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information includes the target type speed limit information;
and the determining module is further used for determining that the second speed limit information is the target speed limit information under the condition that the first speed limit information does not include a speed limit value and the third speed limit information does not include the target type speed limit information.
9. An electronic device, characterized in that the device comprises: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method for determining speed limit information according to any one of claims 1 to 7.
10. A computer storage medium, characterized in that the computer storage medium has stored thereon computer program instructions which, when executed by a processor, implement the method of determining speed limit information according to any one of claims 1 to 7.
11. A vehicle, characterized by comprising at least one of:
determination means of speed limit information according to claim 8;
the electronic device of claim 9;
the computer storage medium of claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210963733.XA CN115431973A (en) | 2022-08-11 | 2022-08-11 | Method, device, equipment, storage medium and vehicle for determining speed limit information |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210963733.XA CN115431973A (en) | 2022-08-11 | 2022-08-11 | Method, device, equipment, storage medium and vehicle for determining speed limit information |
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| CN115431973A true CN115431973A (en) | 2022-12-06 |
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| CN202210963733.XA Pending CN115431973A (en) | 2022-08-11 | 2022-08-11 | Method, device, equipment, storage medium and vehicle for determining speed limit information |
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| Country | Link |
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| CN (1) | CN115431973A (en) |
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- 2022-08-11 CN CN202210963733.XA patent/CN115431973A/en active Pending
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