CN116215231A

CN116215231A - Vehicle speed limit control method and device, vehicle, readable storage medium and chip

Info

Publication number: CN116215231A
Application number: CN202310063011.3A
Authority: CN
Inventors: 段志娟; 张翼翔; 黄琼; 刘发祥; 左敏; 黄少堂
Original assignee: Jiangling Motors Corp Ltd
Current assignee: Jiangling Motors Corp Ltd
Priority date: 2023-01-19
Filing date: 2023-01-19
Publication date: 2023-06-06

Abstract

The invention discloses a vehicle speed limit control method, a device, a vehicle, a readable storage medium and a chip, and relates to the technical field of vehicle auxiliary driving, wherein the method comprises the following steps: acquiring current state parameters of a vehicle, wherein the current state parameters at least comprise a current vehicle speed signal and current vehicle speed signal state information; calculating and determining a pulse frequency signal according to the current vehicle speed signal and the state information of the current vehicle speed signal; searching and acquiring configuration information corresponding to the speed limit of the vehicle from a database preset by the vehicle according to the current state parameters; the configuration information comprises a first preset pulse frequency, a second preset pulse frequency, first vehicle control strategy information and second vehicle control strategy information; and determining and executing a control strategy corresponding to the first vehicle control strategy information according to the pulse frequency signal and the preset pulse frequency. Therefore, the maximum speed of the vehicle is automatically limited, the vehicle is enabled to enter a safe state in time, and meanwhile the problem that the shaft breakage is possibly caused by the overhigh speed is avoided.

Description

Vehicle speed limit control method and device, vehicle, readable storage medium and chip

Technical Field

The invention relates to the technical field of vehicle auxiliary driving, in particular to a vehicle speed limit control method and device, a vehicle, a readable storage medium and a chip.

Background

The intelligent speed limiting system in the prior art is mainly realized based on torque output control of an engine management system (Engine Management System, EMS), when the speed of the vehicle exceeds a certain threshold value for limiting the speed, the torque value required by the EMS for maintaining the speed limiting value does not continuously output a larger accelerator torque value, so that the running safety of the vehicle is ensured.

However, the commercial vehicle is limited by the configuration of the EMS system, if the maximum vehicle speed cannot be limited by the unmatched EMS, the vehicle cannot enter a safe state in time, meanwhile, the vehicle is too high in speed and possibly breaks a shaft, if the EMS system is configured by the vehicle, the production cost of the vehicle is increased, so that if the maximum vehicle speed of the vehicle is not automatically limited, the vehicle cannot enter the safe state in time, and serious potential safety hazards are brought.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the invention provides a vehicle speed limit control method, a device, a vehicle, a readable storage medium and a chip.

According to an embodiment of the first aspect of the present invention, there is provided a vehicle speed limit control method, including:

acquiring current state parameters of a vehicle, wherein the current state parameters at least comprise a current vehicle speed signal and current vehicle speed signal state information;

calculating and determining a pulse frequency signal according to the current vehicle speed signal and the state information of the current vehicle speed signal;

searching and acquiring configuration information corresponding to the speed limit of the vehicle from a database preset by the vehicle according to the current state parameter; the configuration information comprises a first preset pulse frequency, a second preset pulse frequency, first vehicle control strategy information and second vehicle control strategy information;

determining and executing a control strategy corresponding to the vehicle control strategy information according to the pulse frequency signal, the first preset pulse frequency and the second preset pulse frequency;

wherein determining and executing a control strategy corresponding to the first vehicle control strategy information according to the pulse frequency signal, the first preset pulse frequency and the second preset pulse frequency, includes:

If the pulse frequency signal is greater than or equal to the first preset pulse frequency, controlling the vehicle according to a control strategy corresponding to the first vehicle control strategy information;

and if the pulse frequency vehicle speed signal is smaller than the second preset pulse frequency, controlling the vehicle according to a control strategy corresponding to the second vehicle control strategy information.

Optionally, the calculating and determining the pulse frequency signal according to the current vehicle speed signal and the state information of the current vehicle speed signal includes:

the calculation method for calculating and determining the pulse frequency signal comprises the following steps:

wherein: f is a pulse frequency signal (Hz); v is the current vehicle speed signal (Km/h); l is the number of pulses per kilometer (2474).

According to an aspect of the foregoing technical solution, if the pulse frequency vehicle speed signal is greater than or equal to the first preset pulse frequency, controlling the vehicle according to a control policy corresponding to the first vehicle control policy information specifically includes:

sending a first control request to a mechanical speed limit controller of the vehicle to control the travel of an accelerator pedal of the vehicle;

sending an alarm instruction to a vehicle-mounted information entertainment system of the vehicle so as to control the vehicle-mounted information entertainment system to enter an alarm mode;

According to one aspect of the above technical solution, after sending a first control request to a mechanical speed limit controller of the vehicle to control the travel of an accelerator pedal of the vehicle, the method includes:

and if the pulse frequency signal is larger than a second preset pulse frequency, the mechanical speed limit controller continuously controls the travel of the accelerator pedal of the vehicle, and the vehicle-mounted information entertainment system continuously executes an alarm mode.

According to an aspect of the foregoing technical solution, if the pulse frequency vehicle speed signal is smaller than the second preset pulse frequency, controlling the vehicle according to a control policy corresponding to the second vehicle control policy information includes:

a second control request is sent to a mechanical speed limit controller of the vehicle, wherein,

if the mechanical speed limiting controller is in a state of controlling the stroke of the accelerator pedal; the mechanical speed limit controller releases the control of the travel of the accelerator pedal;

and if the mechanical speed limiting controller is in a state of not controlling the travel of the accelerator pedal, the mechanical speed limiting controller does not perform state switching.

According to an aspect of the foregoing technical solution, if the pulse frequency vehicle speed signal is smaller than the second preset pulse frequency, controlling the vehicle according to a control policy corresponding to the second vehicle control policy information, further includes:

Transmitting a switch instruction to an in-vehicle infotainment system of the vehicle, wherein,

if the vehicle-mounted information entertainment system is in an alarm mode, the vehicle-mounted information entertainment system is switched from the alarm mode to a normal mode;

and if the vehicle-mounted information entertainment system is in the normal mode, the vehicle-mounted information entertainment system mode is not switched.

According to the vehicle speed limit control method provided by the embodiment of the invention, the current state parameters of the vehicle can be obtained in real time, wherein the current state parameters at least comprise the current vehicle speed signal and the current vehicle speed signal state information; according to a signal conversion formula, the current vehicle speed signal is converted into a pulse frequency signal, the pulse frequency signal is hard-wired and transmitted to the mechanical speed limiting controller, the mechanical speed limiting controller carries out logic judgment according to the input pulse frequency signal, when the pulse frequency signal is larger than a preset pulse frequency, the stroke of the accelerator pedal is correspondingly and mechanically controlled, so that a driver cannot further increase the accelerator, the maximum vehicle speed of a vehicle is automatically limited, the vehicle is enabled to enter a safe state in time, and meanwhile, the possibility of shaft breakage caused by overhigh vehicle speed is avoided.

By sending different instructions to the vehicle-mounted information entertainment system of the vehicle, the vehicle-mounted information entertainment system is enabled to switch between an alarm mode and a normal mode, the vehicle speed condition of the vehicle is reminded to a driver in real time, the interactivity of the driver and the vehicle is improved, and the influence on the normal driving experience of the driver caused by the introduction of the vehicle speed limiting control method is avoided.

In order to achieve the above object, according to a second aspect of the embodiments of the present invention, there is provided a vehicle speed limit control device including:

the first acquisition module is configured to acquire a current speed signal and current speed signal state information of the vehicle;

the information conversion module is configured to calculate and convert the current vehicle speed signal and the current vehicle speed signal state information into pulse frequency signals according to the current vehicle speed signal and the current vehicle speed signal state information acquired by the first acquisition module;

the first determining module is configured to determine a control strategy corresponding to the vehicle control strategy information according to the pulse frequency signal and preset pulse frequency information acquired by the information converting module;

The first control module is configured to control the vehicle based on a control strategy corresponding to the vehicle control strategy information;

the second acquisition sub-module is configured to acquire the state information of the vehicle-mounted infotainment system of the vehicle;

and the second determining submodule is configured to determine the state transition of the vehicle-mounted infotainment system according to the vehicle-mounted infotainment system state information acquired by the second acquiring submodule.

And the second control sub-module is configured to control the state transition of the vehicle-mounted infotainment system according to the state information of the vehicle-mounted infotainment system.

In order to achieve the above object, according to a third aspect of the embodiments of the present invention, there is provided a vehicle including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the method for controlling the speed limit of the vehicle comprises the following steps of.

To achieve the above object, according to a fourth aspect of the embodiments of the present invention, there is provided a non-transitory computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of a vehicle speed limit control method provided by the embodiments of the first aspect of the present invention.

To achieve the above object, according to a fourth aspect of an embodiment of the present invention, there is provided a chip including a processor and an interface; the processor is used for reading the instruction to execute the vehicle speed limit control method provided by the embodiment of the first aspect of the invention.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart illustrating a vehicle speed limit control method according to an exemplary embodiment;

FIG. 2 is a flowchart illustrating another vehicle speed limit control method according to an exemplary embodiment;

FIG. 3 is a block diagram illustrating a vehicle speed limit control device according to an exemplary embodiment;

FIG. 4 is a block diagram illustrating an apparatus for vehicle speed limit control according to an exemplary embodiment;

FIG. 5 is a functional block diagram of a vehicle, according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The terms "first," second, "" third and the like in the description and in the claims and drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a series of steps or elements may be included, or alternatively, steps or elements not listed or, alternatively, other steps or elements inherent to such process, method, article, or apparatus may be included.

Only some, but not all, of the matters relevant to the present application are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

As used in this specification, the terms "component," "module," "system," "unit," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a unit may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or being distributed between two or more computers. Furthermore, these units may be implemented from a variety of computer-readable media having various data structures stored thereon. The units may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., second unit data from another unit interacting with a local system, distributed system, and/or across a network).

Example 1

Fig. 1 is a flowchart showing a vehicle speed limit control method applied to an electronic device having processing capability, such as an in-vehicle processor, a controller, etc., according to an exemplary embodiment, the vehicle speed limit control method including the steps of:

in step S11, a current state parameter of the vehicle is acquired, wherein the current state parameter includes at least a current vehicle speed signal and current vehicle speed signal state information.

As one possible implementation method of the embodiment of the present disclosure, the current vehicle speed signal refers to a real-time vehicle speed during a vehicle driving process, and when the vehicle of the embodiment of the present disclosure obtains the current vehicle speed signal, as one possible scheme, the vehicle speed may be periodically collected in real time through a speed sensor configured by an anti-lock brake system (Anti lock Braking System, ABS) of the vehicle, and the current vehicle speed signal status information refers to control information generated in real time according to a system command after the current vehicle speed signal is collected and obtained, where the current vehicle speed signal status information may be at least used to determine whether a part of data is lost in a transmission process of the current vehicle speed signal, that is, ensure accuracy of data in the transmission process of the current vehicle speed signal; meanwhile, the method can also be used for carrying out transmission control subsequent program execution simultaneously with the current vehicle speed signal; for example, if the state information of the previous vehicle speed signal is judged to be valid, the obtained current vehicle speed signal is continuously transmitted to the next control system, if the state information of the previous vehicle speed signal is judged to be invalid, the obtained current vehicle speed signal is automatically deleted, and the current vehicle speed signal and the state information of the current vehicle speed signal are re-obtained, so that the accuracy of the transmission of the current vehicle speed signal and the efficiency of the system for executing speed limiting control are improved.

In step S12, calculating and determining a pulse frequency signal according to the current vehicle speed signal and the state information of the current vehicle speed signal;

in this step, the calculation method for calculating and determining the pulse frequency signal includes:

wherein: f is a pulse frequency signal (Hz); v is the current vehicle speed signal (Km/h); l is pulse number per kilometer (2474), the vehicle speed limit control method converts the current vehicle speed signal into a pulse frequency signal, and lays a cushion for realizing speed limit for subsequent mechanical control, in order to realize the step, one possible method is that the vehicle anti-lock braking system transmits the collected current vehicle speed signal to a vehicle body control system (Body Control Module, BCM) through a CAN network, and the vehicle body control system converts the current vehicle speed signal into a pulse frequency signal through a preset conversion formula, wherein in one possible implementation, the pulse frequency signal is a pulse width modulation frequencyRate signal (Pulse Width Modulation, PWM).

In step S13, according to the current state parameter, searching and acquiring configuration information corresponding to the speed limit of the vehicle in a database preset by the vehicle; the configuration information comprises a first preset pulse frequency, a second preset pulse frequency, first vehicle control strategy information and second vehicle control strategy information;

In this step, the vehicle may invoke a corresponding speed limit control strategy by logically comparing the first vehicle control strategy information and the second vehicle control strategy information with the pulse frequency signal according to a preset first preset pulse frequency, a preset second pulse frequency, and a preset second vehicle control strategy information.

It should be noted that, the value of the first preset pulse frequency is smaller than the value of the second preset pulse frequency, when the system compares the pulse frequency signal with the first preset pulse frequency, the first vehicle control strategy information is scheduled, and when the system processes the pulse frequency signal with the second preset pulse frequency, the second vehicle control strategy information is scheduled.

In one implementation, when the vehicle accelerates from the beginning, the comparison and judgment of the first preset pulse frequency, the second preset pulse frequency and the pulse frequency signal can be configured to compare the pulse frequency signal with the first preset pulse frequency only, and after the vehicle has overspeed and the speed limit control strategy is invoked, the comparison and judgment of the pulse frequency signal with the second preset pulse frequency can be configured to compare the pulse frequency signal with the second preset pulse frequency.

By adopting the feasible configuration method, the control program flow corresponding to the speed-limiting control method can be simplified, and for the running vehicle, when the speed reaches the limited speed, the speed-limiting control method is called, so that other running control strategies of the vehicle are not conflicted, and the experience of a driver on the vehicle configuring the speed-limiting control method is improved.

Step S14 is executed by determining a control strategy corresponding to the vehicle control strategy information according to the pulse frequency signal, the first preset pulse frequency and the second preset pulse frequency;

in this step, in one possible implementation manner, the control policy corresponding to the vehicle control policy information is specifically: the mechanical speed limiting controller is preset in the vehicle, the accelerator pedal in the vehicle is provided with an actuator, and the mechanical speed limiting controller judges and controls the actuator according to logic so as to achieve travel control of the accelerator pedal.

The mechanical speed limit controller can be: the vehicle body control system is hard-wired into the mechanical speed-limiting controller, pulse frequency signals are transmitted to an information processing module of the mechanical speed-limiting controller, the information processing module recalls a first preset pulse frequency and a second preset pulse frequency for comparison, and a control request is transmitted to a hardware implementation module of the mechanical speed-limiting controller so as to further execute a preset corresponding control strategy.

Example two

FIG. 2 is a flow chart illustrating another vehicle speed limit control method, as shown in FIG. 2, according to an exemplary embodiment, which may include the following steps.

In step S1401, it is determined whether the pulse frequency signal is greater than or equal to the first preset pulse frequency, if so, step S1403 is executed, otherwise, step S1402 is executed.

In step S1402, the vehicle continues to collect the current vehicle speed signal and the current vehicle speed signal status information in real time.

In step S1403, the mechanical speed limit controller of the vehicle sends a first control request to control the vehicle accelerator pedal stroke;

the first control request is that the mechanical speed-limiting controller controls the travel of an accelerator pedal of the mechanical speed-limiting controller in a physical and mechanical way, so that a driver cannot further increase the accelerator, and the speed-limiting control function is realized.

Transmitting an alarm instruction to a vehicle-mounted infotainment system of the vehicle in step S1404 to control the vehicle-mounted infotainment system to enter an alarm mode;

in a possible implementation, the alert mode may include: the display panel indicator light is changed from a green light to a red light, and a buzzer arranged in the vehicle sounds to prompt and give an alarm so as to prompt the driver in real time on the current speed of the vehicle, and improve the interactivity between the driver and the vehicle.

In step S1405, it is determined whether the decelerated pulse frequency signal is smaller than the second preset pulse frequency according to the decelerated pulse frequency signal. If the pulse frequency is smaller than the second preset pulse frequency, step S1407 is executed, otherwise step S1406 is executed.

In step S1406, the mechanical speed limit controller continues to control the vehicle accelerator pedal travel and the in-vehicle infotainment system continues to execute the alert mode.

In this step, because the acquired pulse frequency signal is smaller than the first preset pulse frequency and larger than the second preset pulse frequency, the vehicle speed corresponding to the second preset pulse frequency is smaller than the vehicle speed corresponding to the first preset pulse frequency, but the corresponding vehicle speed phase difference range between the two is preset for different vehicle types,

for example, corresponding to an import truck, the corresponding speed difference between the two can be 5KM/h to 25KM/h; obviously, when the pulse frequency signal is between the corresponding vehicle speed of the first preset pulse frequency and the second preset pulse frequency, the corresponding vehicle speed does not enter a safety period, so that the mechanical speed limit controller continues to control the travel of the vehicle accelerator pedal, and the vehicle-mounted infotainment system continues to execute an alarm mode, so that the vehicle continues to execute deceleration, and the vehicle enters a safety state in time.

In step S1407, a second control request is sent to a mechanical speed limit controller of the vehicle, and the mechanical speed limit controller releases the accelerator pedal stroke control.

In this step, the second control request is that the mechanical speed limit controller releases the control of the accelerator pedal stroke, and the accelerator pedal stroke is returned to the normal stroke, so that the driver can further accelerate.

In step S1408, a switch instruction is sent to an in-vehicle infotainment system of the vehicle, which is switched from the alert mode to the normal mode.

In a possible implementation, the normal mode may include: the display panel indicator light is changed from red light to green light, and a buzzer arranged in the vehicle stops sounding to prompt and alarm, so that the current speed condition of the vehicle is prompted to the driver in real time, and the interactivity between the driver and the vehicle is improved.

Thus, by adopting the technical scheme, for the vehicle not provided with the EMS engine management system, the current state parameters of the vehicle can be obtained in real time, wherein the current state parameters at least comprise the current vehicle speed signal and the current vehicle speed signal state information; according to a signal conversion formula, converting the current vehicle speed signal into a pulse frequency signal, hard-wired access of the pulse frequency signal is transmitted to the mechanical speed limiting controller, the mechanical speed limiting controller carries out logic judgment according to the input pulse frequency signal, when the pulse frequency signal is larger than a preset pulse frequency, corresponding mechanical control is carried out on the travel of the accelerator pedal, so that a driver cannot further increase the accelerator, the maximum vehicle speed of a vehicle is automatically limited, the vehicle is in a safe state in time, and meanwhile, the possibility of shaft breakage caused by overhigh vehicle speed is avoided;

By sending different instructions to the vehicle-mounted information entertainment system of the vehicle, the vehicle-mounted information entertainment system carries out the mutual switching between an alarm mode and a normal mode, reminds a driver of the vehicle speed condition in real time, improves the interactivity between the driver and the vehicle, avoids influencing the normal driving experience of the driver due to the introduction of the vehicle speed limiting control method, realizes the automatic limitation of the maximum vehicle speed of the vehicle, ensures that the vehicle enters a safe state in time, and simultaneously avoids the problem that the vehicle speed is too high and possibly causes axle breakage.

Example III

Based on the same inventive concept, the present disclosure also provides a vehicle speed limit control device. Fig. 3 is a block diagram of a vehicle speed limit control apparatus according to an exemplary embodiment, and as shown in fig. 3, a vehicle speed limit control apparatus 300 includes:

a first acquisition module 301 configured to acquire a current vehicle speed signal and current vehicle speed signal state information of a vehicle;

a first determining module 302, configured to determine a control strategy corresponding to the vehicle control strategy information according to the pulse frequency signal and preset pulse frequency information acquired by the information converting module;

a first control module 303 configured to control the vehicle based on a control policy corresponding to the vehicle control policy information;

Optionally, the first control module 303 includes:

a second acquisition sub-module configured to acquire in-vehicle infotainment system status information of the vehicle

Optionally, the first control module 303 further includes:

a third acquisition sub-module configured to acquire mechanical speed limit controller status information of the vehicle

And the second determining submodule is configured to determine the execution state of the mechanical speed-limiting controller on the accelerator pedal according to the state information of the mechanical speed-limiting controller acquired by the second acquiring submodule.

And the second control sub-module is configured to control the mechanical speed limit controller to control an accelerator pedal according to the state information of the mechanical speed limit controller.

Example IV

Based on the same inventive concept, the present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle speed limit control method provided by the present disclosure.

Example five

FIG. 4 is a block diagram illustrating an apparatus for vehicle speed limit control according to an exemplary embodiment; as shown in fig. 4, the vehicle 400 may include one or more of the following components: a processing component 402, a power component 404, a multimedia component 406, an audio component 408, a memory 410, an input/output (I/O) interface 412, a sensor component 414, and a communication component 416.

The processing component 402 generally controls overall operation of the vehicle 400, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. Processing component 402 may include one or more processors 420 to execute instructions to perform all or part of the steps of the above-described lane change method. Further, the processing component 402 can include one or more modules that facilitate interaction between the processing component 402 and other components. For example, the processing component 402 may include a multimedia module to facilitate interaction between the multimedia component 406 and the processing component 402.

The power components 404 provide power to the various components of the vehicle 400. The power components 404 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the vehicle 400.

The multimedia component 406 includes a screen between the vehicle 400 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 406 includes a front-facing camera and/or a rear-facing camera. The front camera and/or the rear camera may receive external multimedia data when the vehicle 400 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 408 is configured to output and/or input audio signals. For example, the audio component 408 includes a Microphone (MIC) configured to receive external audio signals when the vehicle 400 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 410 or transmitted via the communication component 416. In some embodiments, the audio component 408 further comprises a speaker for outputting audio signals.

The memory 410 is configured to store various types of data to support operation at the vehicle 400. Examples of such data include instructions for any application or method operating on the vehicle 400, contact data, phonebook data, messages, pictures, videos, and the like. The memory 410 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The I/O interface 412 provides an interface between the processing component 402 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 414 includes one or more sensors for providing status assessment of various aspects of the vehicle 400. For example, the sensor assembly 414 may detect an on/off state of the vehicle 400, a relative positioning of the components, such as a display and keypad of the vehicle 400, the sensor assembly 414 may also detect a change in position of the vehicle 400 or a component of the vehicle 400, the presence or absence of user contact with the vehicle 400, an orientation or acceleration/deceleration of the vehicle 400, and a change in temperature of the vehicle 400. The sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 416 is configured to facilitate communication between the vehicle 400 and other devices in a wired or wireless manner. The vehicle 400 may access a wireless network based on a communication standard, such as WiFi,4G, or 5G, or a combination thereof. In one exemplary embodiment, the communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 416 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, vehicle 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the speed limit control methods described above.

In the exemplary embodiment, a non-transitory computer-readable storage medium is also provided that includes instructions, such as memory 410 that includes instructions, that are executable by processor 420 of vehicle 400 to perform the above-described lane-change-over method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Example six

The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the subsystems and components of vehicle 600 may be interconnected via wires or wirelessly.

In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

The communication system 611 may comprise a wireless communication system, which may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, wireless communication systems may include one or more dedicated short-range communication (dedicated short range communications, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

Entertainment system 612 may include a display device, a microphone, and an audio, and a user may listen to the broadcast in the vehicle based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, the screen of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate through touching the screen.

In some cases, the user's voice signal may be acquired through a microphone and certain controls of the vehicle 600 by the user may be implemented based on analysis of the user's voice signal, such as adjusting the temperature within the vehicle, etc. In other cases, music may be played to the user through sound.

The navigation system 613 may include a map service provided by a map provider to provide navigation of a travel route for the vehicle 600, and the navigation system 613 may be used with the global positioning system 621 and the inertial measurement unit 622 of the vehicle. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

The perception system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, sensing system 620 may include a global positioning system 621 (which may be a GPS system, or may be a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU) 622, a lidar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.) of the internal systems of the monitored vehicle 600. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.

The global positioning system 621 is used to estimate the geographic location of the vehicle 600.

The inertial measurement unit 622 is configured to sense a change in the pose of the vehicle 600 based on inertial acceleration. In some embodiments, inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

The lidar 623 uses a laser to sense objects in the environment in which the vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, millimeter-wave radar 624 may be used to sense the speed and/or heading of an object in addition to sensing the object.

The ultrasonic radar 625 may utilize ultrasonic signals to sense objects around the vehicle 600.

The image pickup device 626 is used to capture image information of the surrounding environment of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc., and the image information acquired by the image capturing device 626 may include still images or video stream information.

The decision control system 630 includes a computing system 631 that makes analysis decisions based on information acquired by the perception system 620, and the decision control system 630 also includes a vehicle controller 632 that controls the powertrain of the vehicle 600, as well as a steering system 633, throttle 634, and braking system 635 for controlling the vehicle 600.

The computing system 631 may be operable to process and analyze the various information acquired by the perception system 620 in order to identify targets, objects, and/or features in the environment surrounding the vehicle 600. The targets may include pedestrians or animals and the objects and/or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, in-motion restoration structure (Structure from Motion, SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map the environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the acquired various information and derive control strategies for the vehicle.

The vehicle controller 632 may be configured to coordinate control of the power battery and the engine 641 of the vehicle to enhance the power performance of the vehicle 600.

Steering system 633 is operable to adjust the direction of travel of vehicle 600. For example, in one embodiment may be a steering wheel system.

Throttle 634 is used to control the operating speed of engine 641 and thereby the speed of vehicle 600.

The braking system 635 is used to control deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheels 644. In some embodiments, the braking system 635 may convert kinetic energy of the wheels 644 into electrical current. The braking system 635 may take other forms to slow the rotational speed of the wheels 644 to control the speed of the vehicle 600.

The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.

Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 642 may also provide energy to other systems of the vehicle 600.

The transmission 643 may transfer mechanical power from the engine 641 to wheels 644. The transmission 643 may include a gearbox, a differential, and a driveshaft. In one embodiment, the transmission 643 may also include other devices, such as a clutch. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.

Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651, and the processor 651 may execute instructions 653 stored in a non-transitory computer-readable medium, such as memory 652. In some embodiments, computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

In an embodiment of the present disclosure, the processor 651 may perform the vehicle speed limit control method described above.

In various aspects described herein, the processor 651 can be located remotely from and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

In some embodiments, fourth memory 652 may contain instructions 653 (e.g., program logic), which instructions 653 may be executed by fourth processor 651 to perform various functions of vehicle 600. Memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of infotainment system 610, perception system 620, decision control system 630, drive system 640.

In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.

The computing platform 650 may control the functions of the vehicle 600 based on inputs received from various subsystems (e.g., the drive system 640, the perception system 620, and the decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, computing platform 650 is operable to provide control over many aspects of vehicle 600 and its subsystems.

Alternatively, one or more of these components may be mounted separately from or associated with vehicle 600. For example, the memory 652 may exist partially or completely separate from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.

Alternatively, the vehicle 600 or a sensing and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on a road, etc.). Alternatively, each identified object depends on each other's behavior, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous car is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 600 so that the autonomous vehicle follows a given trajectory and/or maintains safe lateral and longitudinal distances from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on a roadway).

The vehicle 600 may be various types of traveling tools, such as a car, a truck, a motorcycle, a bus, a boat, a recreational vehicle, a train, etc., and embodiments of the present disclosure are not particularly limited.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle travel control method when being executed by the programmable apparatus.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or 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, embedded processor, 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves. It should also be noted that 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 phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the invention.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application for the embodiment. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle speed limit control method, characterized by comprising:

wherein determining and executing a control strategy corresponding to the vehicle control strategy information according to the pulse frequency signal, the first preset pulse frequency and the second preset pulse frequency comprises:

2. The vehicle speed limit control method according to claim 1, wherein the calculating and determining the pulse frequency signal based on the current vehicle speed signal and the current vehicle speed signal state information includes:

3. The vehicle speed limit control method according to claim 1, wherein if the pulse frequency vehicle speed signal is greater than or equal to the first preset pulse frequency, controlling the vehicle according to a control strategy corresponding to the first vehicle control strategy information, comprising:

and sending an alarm instruction to a vehicle-mounted infotainment system of the vehicle so as to control the vehicle-mounted infotainment system to enter an alarm mode.

4. A vehicle speed limit control method according to claim 3, wherein after sending a first control request to a mechanical speed limit controller of the vehicle to control the vehicle accelerator pedal stroke, comprising:

5. The vehicle speed limit control method according to claim 1, wherein if the pulse frequency vehicle speed signal is smaller than the second preset pulse frequency, controlling the vehicle according to a control strategy corresponding to the second vehicle control strategy information, comprising:

6. The vehicle speed limit control method according to claim 5, further comprising:

7. A vehicle speed limit control device, characterized by comprising:

8. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

a step of implementing the vehicle speed limit control method according to any one of claims 1 to 6.

9. A non-transitory computer readable storage medium having stored thereon computer program instructions, characterized in that the computer program instructions, when executed by a processor, implement the steps of the vehicle speed limit control method of any one of claims 1 to 6.

10. A chip, comprising a processor and an interface; the processor is configured to read instructions to perform the method of any one of claims 1 to 6.