CN117636659A - Vehicle speed limiting method, vehicle running control method, electronic device, and storage medium - Google Patents
Vehicle speed limiting method, vehicle running control method, electronic device, and storage medium Download PDFInfo
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Abstract
The application discloses a vehicle speed limiting method. The method comprises the following steps: acquiring the current position of a vehicle, a navigation map where the vehicle is located and a current speed limit value of the vehicle at the current position; based on the current position, predicting a speed limiting position point of the vehicle on the navigation map, and acquiring a speed limiting value corresponding to the speed limiting position point, wherein a road section where the speed limiting position point is positioned on the navigation map is used for representing a speed limiting scene of the change of the running speed of the vehicle; obtaining a speed limiting road section distance between a current position and a speed limiting position point; and obtaining a target speed limit value of the road section where the vehicle is positioned at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance so as to realize speed limit. The application also discloses a vehicle driving control method, electronic equipment and a storage medium. The navigation speed limiting method and device improve the rationality and accuracy of navigation speed limiting.
Description
Technical Field
The disclosed embodiments of the present application relate to the field of vehicle navigation, and more particularly, to a vehicle speed limiting method, a vehicle travel control method, an electronic apparatus, and a storage medium.
Background
For an intelligent driving scheme based on a navigation map, the navigation module needs to provide refined speed limit information for a planning/control module to ensure the reasonability of the vehicle speed and the comfort of the experience of passengers, for example, the traditional speed limit method based on the navigation map provides the highest speed limit information of the current driving road section, however, for some special speed limit scenes, the special scenes may not be directly marked in the map, so that the problems of lack of flexibility, unstable change, wrong numerical value and the like of the speed limit provided by the navigation map are caused.
Disclosure of Invention
According to an embodiment of the present application, the present application proposes a vehicle speed limiting method, a vehicle running control method, an electronic apparatus, and a storage medium to solve the above-described problems.
A first aspect of the present application discloses a vehicle speed limiting method comprising: acquiring a current position of a vehicle, a navigation map where the vehicle is located and a current speed limit value of the vehicle at the current position; based on the current position, predicting a speed limit position point of the vehicle on the navigation map, and acquiring a speed limit value corresponding to the speed limit position point, wherein a road section where the speed limit position point is positioned on the navigation map is used for representing a speed limit scene of the vehicle running speed change; acquiring a speed limiting road section distance between the current position and the speed limiting position point; and obtaining a target speed limit value of a road section where the vehicle is located at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance so as to realize speed limit.
In some embodiments, further comprising: the speed limiting scene defines a speed limiting range; according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance, the method for obtaining the target speed limit value of the road section where the vehicle is located at the current position comprises the following steps: acquiring an initial speed limit value of a road section where the vehicle is located at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance; in response to the initial speed limit value being within the speed limit range, using the initial speed limit value as the target speed limit value; in response to the initial speed limit value not being within the speed limit range, an upper limit value or a lower limit value of the speed limit range is used as the target speed limit value.
In some embodiments, the obtaining the initial speed limit value of the road section where the vehicle is located at the current location includes: setting a distance threshold value and a speed limit proportion based on the speed limit position points; responding to the fact that the speed limit road section distance is larger than the distance threshold value, and taking the current speed limit value as the initial speed limit value; and when the distance of the speed limiting road section is smaller than or equal to the distance threshold, taking a scene speed limiting value as the initial speed limiting value, wherein the scene speed limiting value is calculated based on the speed limiting proportion.
In some embodiments, the obtaining the speed-limiting road segment distance between the current location and the speed-limiting location point includes: and calculating the distance between the current position of the vehicle and the speed limiting position point by using a distance formula to serve as the distance of the speed limiting road section.
In some embodiments, the predicting a speed limit location point of the vehicle on the navigation map based on the current location comprises: determining the road section of the speed limiting position point on the navigation map as a road specified speed limiting road section; determining the road section of the speed limit position point on the navigation map as a ramp road section; and determining the road section of the speed limiting position point on the navigation map as a special road section.
In some embodiments, the road segment on which the speed limit position point is located on the navigation map includes a first road segment and a second road segment, the special road segment includes an entry road segment and an exit road segment, and the determining that the road segment on which the speed limit position point is located on the navigation map is a special road segment includes: determining that at least two entering edges exist in a next road section of the first road section, wherein an included angle between the at least two entering edges is smaller than a first preset value, and an included angle between the at least two entering edges and the next road section of the first road section is larger than a second preset value; the road section attribute of the first road section accords with an import scene, and then the first road section is determined to be the import road section; or determining that at least two sections of outgoing edges exist in the second road section, wherein the included angle between the at least two sections of outgoing edges is smaller than a third preset value, and the included angle between the at least two sections of outgoing edges and the second road section is larger than a fourth preset value; and the road section attribute of the second road section accords with the remittance scene, so that the second road section is determined to be the remittance road section.
In some embodiments, the road segment on which the speed limit position point is located on the navigation map includes a third road segment, the special road segment includes an intersection road segment, and the determining that the road segment on which the speed limit position point is located on the navigation map is a special road segment includes: responding to the road section attribute of the third road section as an intersection, and determining the third road section as the intersection road section; responding to the road section attribute of the adjacent non-navigation road section of the third road section as an intersection, and determining the third road section as the intersection road section; and responding to the geometric relationship of the third road section meeting a preset condition, and determining the third road section as the intersection road section.
The second aspect of the present application discloses a vehicle running control method, including: acquiring speed limiting information; outputting the speed limiting information to a vehicle display system or a planning control system to realize vehicle speed limiting; wherein the speed limit information is obtained by the vehicle speed limit method described in the first aspect.
A third aspect of the present application discloses an electronic device, including a memory and a processor coupled to each other, where the processor is configured to execute program instructions stored in the memory to implement the vehicle speed limiting method described in the first aspect, or to implement the vehicle travel control method described in the second aspect.
A fourth aspect of the present application discloses a non-transitory computer-readable storage medium having stored thereon program instructions that, when executed by a processor, implement the vehicle speed limiting method described in the first aspect, or implement the vehicle travel control method described in the second aspect.
The beneficial effects of this application are: the speed limiting value corresponding to the speed limiting position point is obtained by obtaining the current position of the vehicle, the navigation map where the vehicle is located and the current speed limiting value of the vehicle at the current position, the speed limiting position point of the vehicle on the navigation map is predicted, the road section where the speed limiting position point is located on the navigation map is used for representing the speed limiting scene of the running speed change of the vehicle, the speed limiting road section distance between the current position and the speed limiting position point is obtained, and then the target speed limiting value of the road section where the vehicle is located at the current position is obtained according to the current speed limiting value, the speed limiting position point, the corresponding speed limiting value, the speed limiting scene and the speed limiting road section distance, so that the speed limiting of the vehicle is realized, and the rationality and the accuracy of the navigation speed limiting are improved.
Drawings
The application will be further described with reference to the accompanying drawings and embodiments, in which:
FIG. 1 is a flow chart of a vehicle speed limiting method of an embodiment of the present application;
FIG. 2 is a schematic diagram of an incoming road segment according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a junction according to an embodiment of the present application;
FIG. 4 is a schematic illustration of an intersection segment of an embodiment of the present application;
FIG. 5 is a schematic illustration of an application flow of a vehicle speed limiting method according to an embodiment of the present application;
fig. 6 is a flowchart of a vehicle running control method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 8 is a schematic structural view of a nonvolatile computer-readable storage medium according to an embodiment of the present application.
Detailed Description
Reference in the specification 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. 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 appreciate that the embodiments described herein may be combined with other embodiments.
The term "and/or" in this application is merely an association relation describing an associated object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Further, "a plurality" herein means two or more than two. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C. Furthermore, the terms "first," "second," and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions of the present application are described in further detail below with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, fig. 1 is a flow chart of a vehicle speed limiting method according to an embodiment of the disclosure. The execution subject of the method can be an electronic device with a computing function, such as a microcomputer, a server, a mobile device such as a notebook computer, a tablet computer, and the like.
It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 1.
In some possible implementations, the method may be implemented by a processor invoking computer readable instructions stored in a memory, as shown in fig. 1, and may include the steps of:
s11: the method comprises the steps of obtaining the current position of a vehicle, a navigation map where the vehicle is located and a current speed limit value of the vehicle at the current position.
The method comprises the steps of obtaining the current position of a vehicle, a navigation map of the vehicle and a current speed limit value of the vehicle at the current position through a map engine and a road binding module, wherein the navigation map of the vehicle can provide a navigation route, all road section attributes near the navigation route and road geometric relations among roads near the navigation route, the current position of the vehicle is the position information of the vehicle on the navigation route, and the current speed limit value of the vehicle at the current position is a road specified speed limit value corresponding to a road section of the vehicle at the current position.
S12: based on the current position, predicting a speed limiting position point of the vehicle on the navigation map, and acquiring a speed limiting value corresponding to the speed limiting position point, wherein a road section where the speed limiting position point is positioned on the navigation map is used for representing a speed limiting scene of the change of the running speed of the vehicle.
Based on the current position information of the vehicle, predicting a speed limit position point of the vehicle on a navigation map, for example, predicting a specific speed limit road section to be traversed by the traveling vehicle, and acquiring a speed limit value corresponding to the speed limit position point, for example, determining a speed limit value corresponding to the specific speed limit road section to be traversed by the traveling vehicle. The road section where the speed limiting position point is located on the navigation map is used for representing the speed limiting scene of the change of the running speed of the vehicle, and the speed limiting scene of the change of the running speed of the vehicle comprises road section scenes such as a ramp, an intersection, an incoming, outgoing, a road specified speed limiting change point and the like.
S13: and obtaining the speed limiting road section distance between the current position and the speed limiting position point.
The speed-limiting road distance between the current position and the speed-limiting position point is obtained, for example, the road distance between the current position of the vehicle and the next speed-limiting position point can be obtained through calculation.
S14: and obtaining a target speed limit value of the road section where the vehicle is positioned at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance so as to realize speed limit.
According to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance, namely according to the speed limit value corresponding to the road section where the vehicle is currently located, the next speed limit position point, the speed limit value corresponding to the road section where the speed limit position point is located, the speed limit scene represented by the speed limit position point and the distance between the current position of the vehicle and the next speed limit position point, the target speed limit value of the road section where the vehicle is located at the current position is obtained, and the target speed limit value is a more reasonable speed limit value of the road section where the vehicle is located at the current position, so that the speed limit of the vehicle is realized.
In this embodiment, a speed limit position point of the vehicle on the navigation map is predicted by acquiring a current position of the vehicle, a navigation map where the vehicle is located, and a current speed limit value of the vehicle at the current position, so as to obtain a speed limit value corresponding to the speed limit position point, a road section where the speed limit position point is located on the navigation map is used for representing a speed limit scene of a vehicle running speed change, and a speed limit road section distance between the current position and the speed limit position point is acquired, and then a target speed limit value of a road section where the vehicle is located at the current position is acquired according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance, so that speed limit of the vehicle is realized, and rationality and accuracy of navigation speed limit under multiple scenes are improved.
Further, in some embodiments, the speed limit scenario defines a speed limit range; according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance, the method for obtaining the target speed limit value of the road section where the vehicle is located at the current position comprises the following steps: acquiring an initial speed limit value of a road section where a vehicle is located at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance; in response to the initial speed limit value being within the speed limit range, using the initial speed limit value as a target speed limit value; in response to the initial speed limit value not being within the speed limit range, an upper limit value or a lower limit value of the speed limit range is used as the target speed limit value.
The speed limit scene defines a speed limit range, for example, the speed limit range is preset for different speed limit scenes of vehicle running speed changes, namely, the upper limit and the lower limit of a speed limit value are determined, for example, a high-speed road section can set the speed limit range to be 60km/h to 120km/h, and a ramp road section can set the speed limit range to be 40km/h to 50km/h.
According to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance, the initial speed limit value of the road section where the vehicle is located at the current position is obtained, namely, according to the speed limit value corresponding to the road section where the vehicle is located at the current position, the next speed limit position point, the speed limit value corresponding to the road section where the speed limit position point is located, the speed limit scene represented by the speed limit position point and the distance between the current position of the vehicle and the next speed limit position point, the initial speed limit value of the road section where the vehicle is located at the current position is obtained through calculation. Further, comparing the initial speed limit value with the speed limit range, and responding to the initial speed limit value being in the speed limit range, using the initial speed limit value as a target speed limit value, namely determining the initial speed limit value as the target speed limit value if the initial speed limit value is in the speed limit range of the corresponding scene; in response to the initial speed limit value not being within the speed limit range, an upper limit or a lower limit of the speed limit range is used as the target speed limit value, i.e., if the initial speed limit value is greater than the upper limit of the speed limit range of the corresponding scene, the upper limit of the speed limit range is determined as the target speed limit value, and if the initial speed limit value is less than the lower limit of the speed limit range of the corresponding scene, the lower limit of the speed limit range is determined as the target speed limit value.
In some embodiments, obtaining an initial speed limit value for a road segment where a vehicle is located at a current location includes: setting a distance threshold value and a speed limiting proportion based on the speed limiting position points; responding to the fact that the distance of the speed-limiting road section is larger than a distance threshold value, and taking the current speed-limiting value as an initial speed-limiting value; and when the distance of the speed-limiting road section is smaller than or equal to the distance threshold value, taking the scene speed-limiting value as an initial speed-limiting value, wherein the scene speed-limiting value is calculated based on the speed-limiting proportion.
And setting a distance threshold and a speed limit proportion based on the speed limit position points, namely setting different distance thresholds S and speed limit proportions K based on the speed limit scene types characterized by different speed limit position points. And when the distance between the current position of the vehicle and the next speed limit change point is greater than the distance threshold value S, determining the road specified speed limit of the road section where the current position of the vehicle is located as the initial speed limit value. And when the distance of the speed-limiting road section is smaller than or equal to the distance threshold value, taking the scene speed-limiting value as an initial speed-limiting value, namely, when the distance between the current position of the vehicle and the next speed-limiting change point is smaller than or equal to the distance threshold value S, determining the scene speed-limiting value as the initial speed-limiting value, wherein the scene speed-limiting value is calculated based on the speed-limiting proportion, for example, the scene speed-limiting value is Vc+ (Vn-Vc) x K, wherein Vc is the current speed-limiting value, vn is the speed-limiting value of the next speed-limiting position point, and K is the speed-limiting proportion. It will be appreciated that the smoothness of each change in vehicle speed limit data may be ensured by setting a plurality of speed limit thresholds and speed limit ratios.
In some embodiments, obtaining the speed-limit road segment distance between the current location and the speed-limit location point comprises: and calculating the distance between the current position of the vehicle and the speed limit position point by using a distance formula to serve as the speed limit road section distance.
In general, the length of each road section can be provided by a navigation map, and after determining the current position of the vehicle and the next speed limit position point, the distance between the current position of the vehicle and the speed limit position point is calculated by using a distance formula, wherein the distance formula is thatWherein D is the distance between the limited speed road sections, s is the road section number of the current position of the vehicle, e is the road section number of the next speed limiting position point, and +.>The distance between the current position of the vehicle and the starting point of the road section where the current position is located.
In some embodiments, predicting a speed limit location point of a vehicle on a navigation map based on a current location includes: determining the road section of the speed limit position point on the navigation map as a road specified speed limit road section; determining the road section of the speed limit position point on the navigation map as a ramp road section; and determining the road section of the speed limit position point on the navigation map as a special road section.
Based on the current position information of the vehicle, predicting speed limit position points of the vehicle on a navigation map, for example, predicting a specific speed limit road section through which the vehicle is going to pass, so as to predict a next speed limit position point, wherein the road section of the speed limit position points on the navigation map is used for representing the speed limit scene of the vehicle running speed change, and the speed limit scene of the vehicle running speed change comprises road section scenes such as a ramp, an intersection, an incoming and outgoing road, a specified speed limit change point of a road and the like. Specifically, predicting the speed limit position point of the vehicle on the navigation map includes determining that a road section where the speed limit position point is located on the navigation map is a road specified speed limit road section, for example, when a road section of a certain section is different from a road specified speed limit of a next road section, considering that the end point of the road section is a road specified speed limit change point; determining that a road section where the speed limit position point is located on the navigation map is a ramp road section, for example, if the road section attribute of a certain road section is determined to be a ramp and the number of lanes of the road section is smaller than a threshold value, the threshold value can be 4, and judging that the road section is a ramp road section; and determining the road section where the speed limiting position point is located on the navigation map as a special road section, and judging whether the road section is a special scene road section or not according to the road section attribute or the geometric relationship between the road sections.
In some embodiments, the road section where the speed limit position point is located on the navigation map includes a first road section and a second road section, the special road section includes an incoming road section and an outgoing road section, and determining the road section where the speed limit position point is located on the navigation map is a special road section includes: determining that at least two entering edges exist in the next road segment of the first road segment, wherein the included angle between the at least two entering edges is smaller than a first preset value, and the included angle between the at least two entering edges and the next road segment of the first road segment is larger than a second preset value; the road section attribute of the first road section accords with an import scene, and then the first road section is determined to be an import road section; or determining that at least two sections of outgoing edges exist in the second road section, wherein the included angle between the at least two sections of outgoing edges is smaller than a third preset value, and the included angle between the at least two sections of outgoing edges and the second road section is larger than a fourth preset value; and the road section attribute of the second road section accords with the remittance scene, so that the second road section is determined to be the remittance road section.
The road sections where the speed limiting position points are located on the navigation map comprise a first road section and a second road section, and the special road sections comprise a converging road section and a converging road section.
For example, the road section where the next speed limit position point is located on the navigation map is a first road section, if it is determined that at least two entering edges exist in the next road section of the first road section, wherein an included angle between the at least two entering edges is smaller than a first preset value, an included angle between the at least two entering edges and the next road section of the first road section is larger than a second preset value, and the road section attribute of the first road section accords with an import scene, the first road section is determined to be the import road section. As shown in fig. 2, fig. 2 is a schematic diagram of an incoming road section according to an embodiment of the present application, a next road section B of a first road section a has 2 incoming edges, an included angle a between two incoming edges is smaller than 60 degrees, an included angle B/included angle c between two incoming edges and the next road section B is larger than 150 degrees, and a road attribute of the first road section a does not contradict an incoming scene, for example, the first road section a is not a u-turn road section, and the road attribute of the first road section a does not contradict the incoming scene, so that it can be determined that the first road section a is an incoming road section.
For example, the road section where the next speed limit position point is located on the navigation map is a second road section, if it is determined that at least two sections of outgoing edges exist in the second road section, an included angle between the at least two sections of outgoing edges is smaller than a third preset value, an included angle between the at least two sections of outgoing edges and the second road section is larger than a fourth preset value, and the road section attribute of the second road section accords with the remittance scene, it is determined that the second road section is a remittance road section. As shown in fig. 3, fig. 3 is a schematic diagram of a junction section according to an embodiment of the present application, where a second section C has 2 outgoing sides, an included angle a between the two outgoing sides is smaller than 60 degrees, an included angle b/an included angle C between the two outgoing sides and the second section C is larger than 150 degrees, and a road attribute of the second section C does not contradict a junction scene, for example, the second section C is not a u-turn section, and the road attribute of the second section C does not contradict the junction scene, so that it can be determined that the second section C is the junction section.
In some embodiments, the road segment where the speed limit position point is located on the navigation map includes a third road segment, the special road segment includes an intersection road segment, and determining the road segment where the speed limit position point is located on the navigation map is a special road segment includes: responding to the road section attribute of the third road section as an intersection, and determining the third road section as an intersection road section; responding to the road section attribute of the adjacent non-navigation road section of the third road section as an intersection, and determining the third road section as an intersection road section; and determining the third road section as the intersection road section in response to the geometric relationship of the third road section meeting the preset condition.
The road section where the speed limit position point is located on the navigation map comprises a third road section, and the special road section comprises an intersection road section.
For example, a road section where the next speed limit position point is located on the navigation map is a third road section, and the third road section is determined to be an intersection road section in response to the road section attribute of the third road section being an intersection; responding to the road section attribute of the adjacent non-navigation road section of the third road section as an intersection, and determining the third road section as an intersection road section; in response to the geometric relationship of the third road segment meeting the preset condition, determining the third road segment as an intersection road segment, specifically, if the road segment attribute of the third road segment is an intersection, determining the third road segment as an intersection road segment; if the road section attribute of the third road section is not an intersection, judging the road section attribute of the non-navigation road section on the entering side of the third road section, and if the road section attribute of the adjacent non-navigation road section of the third road section is an intersection, determining the third road section as an intersection road section; if the road section attribute of the adjacent non-navigation road section of the third road section is not an intersection, judging the geometric relationship between the third road section and the edge, if the geometric relationship accords with the geometric relationship of the intersection or the T-shaped intersection, determining the third road section as the intersection road section, otherwise, determining the third road section as the non-intersection road section.
The third road section with the geometric relationship meeting the preset condition is an intersection road section, specifically, as shown in fig. 4, fig. 4 is a schematic diagram of the intersection road section in the embodiment of the application, for an intersection, there are 4 sides, and the difference between four included angles (a/b/c/d) and 90 degrees should be smaller than a preset value; for a T-junction, there are 3 edges, where the difference between angle a and 180 degrees, and the difference between angle b\c and 90 degrees should be less than a preset value.
For easy understanding, an example of a specific process of vehicle speed limiting in the present application is shown in fig. 5, where fig. 5 is a schematic application flow chart of a vehicle speed limiting method in an embodiment of the present application, and an upstream data module obtains a current position of a vehicle, a navigation map where the vehicle is located, and a current speed limiting value of the vehicle at the current position; the speed limiting prediction module predicts speed limiting position points of the vehicle on the navigation map based on the current position and acquires speed limiting values corresponding to the speed limiting position points; the distance calculation module obtains the speed limiting road section distance between the current position and the speed limiting position point; the initial speed limiting module obtains an initial speed limiting value of a road section where the vehicle is located at the current position according to the current speed limiting value, the speed limiting position point, the corresponding speed limiting value, the speed limiting scene and the speed limiting road section distance; the abnormality processing module respectively checks and corrects the speed limit values output by the prediction speed limit module and the initial speed limit module, specifically, the output speed limit value is used as a target speed limit value in response to the output speed limit value being in a speed limit range, and the upper limit value or the lower limit value of the speed limit range is used as the target speed limit value in response to the output speed limit value not being in the speed limit range; the target speed limiting module obtains a target speed limiting value of a road section where the vehicle is located at the current position according to the current speed limiting value, the speed limiting position point, the corresponding speed limiting value, the speed limiting scene and the speed limiting road section distance so as to realize speed limiting.
Referring to fig. 6, fig. 6 is a flowchart of a vehicle running control method according to an embodiment of the present application, and the method may be applied to a vehicle-mounted device having a function of calculation or the like. It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 6.
In some possible implementations, the method may be implemented by a processor invoking computer readable instructions stored in a memory, as shown in fig. 6, and may include the steps of:
s61: and obtaining speed limiting information.
The speed limiting information comprises a target speed limiting value, a speed limiting position point, a speed limiting value, a speed limiting scene and a speed limiting road section distance, wherein the target speed limiting value is obtained according to the current speed limiting value, the speed limiting position point, the speed limiting value, the speed limiting scene and the speed limiting road section distance.
S62: and outputting the speed limit information to a vehicle display system or a planning control system to realize vehicle speed limit.
And outputting the target speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance to a vehicle display system or a planning control system, namely outputting information such as the target speed limit value, the speed limit value of the next speed limit change point, the distance between the current vehicle and the next speed limit change point, the speed limit scene type and the like to a vehicle display system and a downstream planning control system so as to realize speed limit information such as the speed limit value of the vehicle, the speed limit value of the next speed limit position point, the distance between the current vehicle and the next speed limit change point, the speed limit scene type and the like.
The speed limiting information is obtained through the vehicle speed limiting method, and specific contents are not repeated.
It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 70 comprises a memory 71 and a processor 72 coupled to each other, the processor 72 being adapted to execute program instructions stored in the memory 71 for carrying out the steps of the above-described vehicle speed limiting method embodiment or for carrying out the steps of the above-described vehicle travel control method embodiment. In one particular implementation scenario, electronic device 70 may include, but is not limited to: the microcomputer and the server are not limited herein.
Specifically, the processor 72 is configured to control itself and the memory 71 to implement the steps of the above-described vehicle speed limiting method embodiment, or to implement the steps of the above-described vehicle running control method embodiment. The processor 72 may also be referred to as a CPU (Central Processing Unit ), and the processor 72 may be an integrated circuit chip with signal processing capabilities. The processor 72 may also be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 72 may be commonly implemented by an integrated circuit chip.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a non-volatile computer readable storage medium according to an embodiment of the present application. The non-transitory computer readable storage medium 80 is used to store a computer program 801, which when executed by a processor, such as the processor 72 in the embodiment of fig. 7 described above, is used to implement the steps of the method embodiment for vehicle speed limitation described above, or to implement the steps of the method embodiment for vehicle travel control described above.
The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.
In the several embodiments provided in this application, it should be understood that the disclosed methods and related devices may be implemented in other ways. For example, the above-described embodiments of related devices are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication disconnection between the illustrated or discussed elements may be through some interface, indirect coupling or communication disconnection of a device or element, electrical, mechanical, or other form.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all or part of the technical solution contributing to the prior art or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those skilled in the art will readily appreciate that many modifications and variations are possible in the device and method while maintaining the teachings of the present application. Accordingly, the above disclosure should be viewed as limited only by the scope of the appended claims.
Claims (10)
1. A vehicle speed limiting method, comprising:
acquiring a current position of a vehicle, a navigation map where the vehicle is located and a current speed limit value of the vehicle at the current position;
based on the current position, predicting a speed limit position point of the vehicle on the navigation map, and acquiring a speed limit value corresponding to the speed limit position point, wherein a road section where the speed limit position point is positioned on the navigation map is used for representing a speed limit scene of the vehicle running speed change;
acquiring a speed limiting road section distance between the current position and the speed limiting position point;
and obtaining a target speed limit value of a road section where the vehicle is located at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance so as to realize speed limit.
2. The method as recited in claim 1, further comprising:
the speed limiting scene defines a speed limiting range;
according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance, the method for obtaining the target speed limit value of the road section where the vehicle is located at the current position comprises the following steps:
acquiring an initial speed limit value of a road section where the vehicle is located at the current position according to the current speed limit value, the speed limit position point, the corresponding speed limit value, the speed limit scene and the speed limit road section distance;
in response to the initial speed limit value being within the speed limit range, using the initial speed limit value as the target speed limit value;
in response to the initial speed limit value not being within the speed limit range, an upper limit value or a lower limit value of the speed limit range is used as the target speed limit value.
3. The method of claim 2, wherein the obtaining an initial speed limit value for a road segment in which the vehicle is located at the current location comprises:
setting a distance threshold value and a speed limit proportion based on the speed limit position points;
responding to the fact that the speed limit road section distance is larger than the distance threshold value, and taking the current speed limit value as the initial speed limit value;
and when the distance of the speed limiting road section is smaller than or equal to the distance threshold, taking a scene speed limiting value as the initial speed limiting value, wherein the scene speed limiting value is calculated based on the speed limiting proportion.
4. The method of claim 1, wherein the obtaining the speed-limiting road segment distance between the current location and the speed-limiting location point comprises:
and calculating the distance between the current position of the vehicle and the speed limiting position point by using a distance formula to serve as the distance of the speed limiting road section.
5. The method of claim 1, wherein predicting a speed limit location point of the vehicle on the navigation map based on the current location comprises:
determining the road section of the speed limiting position point on the navigation map as a road specified speed limiting road section;
determining the road section of the speed limit position point on the navigation map as a ramp road section;
and determining the road section of the speed limiting position point on the navigation map as a special road section.
6. The method of claim 5, wherein the road segment on which the speed limit location point is located on the navigation map includes a first road segment and a second road segment, the special road segment includes an entry road segment and an exit road segment, and the determining that the road segment on which the speed limit location point is located on the navigation map is a special road segment includes:
determining that at least two entering edges exist in a next road section of the first road section, wherein an included angle between the at least two entering edges is smaller than a first preset value, and an included angle between the at least two entering edges and the next road section of the first road section is larger than a second preset value;
the road section attribute of the first road section accords with an import scene, and then the first road section is determined to be the import road section; or (b)
Determining that at least two sections of outgoing edges exist in the second road section, wherein an included angle between the at least two sections of outgoing edges is smaller than a third preset value, and an included angle between the at least two sections of outgoing edges and the second road section is larger than a fourth preset value; and
and the road section attribute of the second road section accords with a remittance scene, so that the second road section is determined to be the remittance road section.
7. The method of claim 5, wherein the road segment on which the speed limit location point is located on the navigation map includes a third road segment, the special road segment includes an intersection road segment, and the determining that the road segment on which the speed limit location point is located on the navigation map is a special road segment includes:
responding to the road section attribute of the third road section as an intersection, and determining the third road section as the intersection road section;
responding to the road section attribute of the adjacent non-navigation road section of the third road section as an intersection, and determining the third road section as the intersection road section;
and responding to the geometric relationship of the third road section meeting a preset condition, and determining the third road section as the intersection road section.
8. A vehicle travel control method characterized by comprising:
acquiring speed limiting information;
outputting the speed limiting information to a vehicle display system or a planning control system to realize vehicle speed limiting;
wherein the speed limit information is obtained by the vehicle speed limit method according to any one of claims 1 to 7.
9. An electronic device comprising a memory and a processor coupled to each other, the processor configured to execute program instructions stored in the memory to implement the vehicle speed limiting method of any one of claims 1 to 7 or to implement the vehicle travel control method of claim 8.
10. A non-transitory computer readable storage medium having stored thereon program instructions, which when executed by a processor, implement the vehicle speed limiting method of any one of claims 1 to 7, or implement the vehicle travel control method of claim 8.
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| CN202311426552.4A CN117636659A (en) | 2023-10-27 | 2023-10-27 | Vehicle speed limiting method, vehicle running control method, electronic device, and storage medium |
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| CN202311426552.4A CN117636659A (en) | 2023-10-27 | 2023-10-27 | Vehicle speed limiting method, vehicle running control method, electronic device, and storage medium |
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