CN117962905A - Speed limit information determining method and device, electronic equipment and storage medium - Google Patents

Abstract

The embodiment of the invention discloses a speed limit information determining method, a speed limit information determining device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring navigation speed limit information, natural environment information and a speed limit sign image in the running process of a target vehicle; the natural environment information comprises weather information and illumination information; determining a vehicle running environment based on the natural environment information; the target speed limit information of the vehicle driving road is determined based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image. According to the technical scheme provided by the embodiment of the invention, the speed limit information on the road on which the vehicle runs can be accurately determined under different vehicle running environments, so that the driving experience of a user is improved.

Description

Speed limit information determining method and device, electronic equipment and storage medium

Technical Field

The embodiment of the invention relates to a vehicle driving technology, in particular to a speed limit information determining method, a speed limit information determining device, electronic equipment and a storage medium.

Background

With the development of technology, intelligent driving functions of vehicles are becoming more and more abundant, for example, vehicles can control vehicle speed according to road speed limit of a road on which the vehicle is traveling during intelligent driving.

Currently, a monocular camera in a vehicle is generally used to identify the speed limit signs on the roadside. However, such a method of identifying the speed limit information of the road on which the vehicle is traveling by the monocular camera to identify the speed limit sign is limited to the monocular camera identification performance, and there are cases where the speed limit information identification is inaccurate. For example, when the monocular camera is partially/totally shielded at night, in extreme weather, and on a speed limit sign, the recognition performance of the monocular camera is greatly reduced, and the speed limit information of the road on which the vehicle is traveling cannot be accurately recognized.

Disclosure of Invention

The embodiment of the invention provides a speed limit information determining method, a speed limit information determining device, electronic equipment and a storage medium, so as to accurately determine speed limit information on a road on which a vehicle runs.

In a first aspect, an embodiment of the present invention provides a method for determining speed limit information, including:

Acquiring navigation speed limit information, natural environment information and a speed limit sign image in the running process of a target vehicle; the natural environment information comprises weather information and illumination information;

Determining a vehicle running environment based on the natural environment information;

And determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image.

In a second aspect, an embodiment of the present invention provides a speed limit information determining apparatus, including:

The information acquisition module is used for acquiring navigation speed limit information, natural environment information and speed limit sign images in the running process of the target vehicle; the natural environment information comprises weather information and illumination information;

a vehicle running environment determining module for determining a vehicle running environment based on the natural environment information;

And the target speed limit information determining module is used for determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image.

In a third aspect, an embodiment of the present invention provides an electronic device, including:

one or more processors;

a memory for storing one or more programs;

The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the speed limit information determination method as provided by any embodiment of the present invention.

In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a speed limit information determination method as provided by any embodiment of the present invention.

According to the technical scheme, navigation speed limit information, natural environment information and speed limit sign images are obtained in the running process of the target vehicle; the natural environment information comprises weather information and illumination information; determining a vehicle running environment based on the natural environment information; and determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image, so that the speed limit information of the vehicle driving road can be accurately determined under different vehicle driving environments, and the driving experience of a user is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

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

Fig. 1 is a flowchart of a speed limit information determining method according to a first embodiment of the present invention;

Fig. 2 is a flowchart of a speed limit information determining method according to a second embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a speed limit information determining device according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device implementing a speed limit information determining method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, in the technical solution of the present disclosure, the related aspects of collecting, updating, analyzing, processing, using, transmitting, storing, etc. of the personal information of the user all conform to the rules of the related laws and regulations, and are used for legal purposes without violating the public order colloquial. Necessary measures are taken for the personal information of the user, illegal access to the personal information data of the user is prevented, and the personal information security, network security and national security of the user are maintained.

Before the technical scheme of the invention is introduced, a use scene of the technical scheme of the invention is introduced. After the speed limit information of the road in the navigation is input, the speed limit sign board of the actual road is updated in speed limit, but the speed limit information is not updated in the navigation, so that the speed limit information is directly adopted in the navigation, and the speed limit information is inaccurately determined. At night, extreme weather and when the speed-limiting sign is partially/totally shielded, the speed-limiting recognition performance of the image acquisition equipment is greatly reduced, and at the moment, if the speed-limiting information on the speed-limiting sign is still used as accurate speed-limiting information, the determined speed-limiting information is inaccurate.

Example 1

Fig. 1 is a flowchart of a speed limit information determining method according to an embodiment of the present invention, which is applicable to a case of determining speed limit information of a vehicle driving road during driving of a vehicle, and the method may be performed by a speed limit information determining device, which may be implemented in the form of hardware and/or software, and the speed limit information determining device may be configured in an electronic apparatus.

As shown in fig. 1, the method includes:

S110, acquiring navigation speed limit information, natural environment information and speed limit sign images in the running process of the target vehicle.

The navigation speed limit information may refer to highest running speed information of a road collected by vehicle navigation. The speed limit sign image may refer to the highest running speed information on the vehicle running road. The natural environment information may refer to information that affects the running of the vehicle in the environment in which the vehicle is located. For example, the natural environment information may include, but is not limited to, weather information and lighting information. The navigation speed limit information and weather information may be acquired by embedded navigation in the target vehicle. The in-line navigation may be embedded in the vehicle DHU. The speed limit sign image and the illumination information may be acquired by an image acquisition device in the target vehicle. The image acquisition device may be, but is not limited to, a monocular camera. The image acquisition device can be arranged at a preset position at the upper end of the front windshield of the vehicle so as to realize better image acquisition.

Specifically, navigation speed limit information, weather information, a speed limit sign image and illumination information acquired by a target vehicle are acquired in the running process of the target vehicle, and the weather information and the illumination information are used as natural environment information. For example, a driving video collected by the target vehicle can be obtained in the driving process of the target vehicle, and the driving video is disassembled frame by frame to determine a plurality of driving images; performing image screening based on a plurality of driving images and a preset speed limit sign board to determine a speed limit sign board image; the speed limit sign image comprises a speed limit sign. For example, the image capturing device may continuously capture 5 frames when capturing the speed limit sign image, wherein the preset fixed is 20ms for one frame, and the frame number range is 4 to 10 frames.

S120, determining the vehicle running environment based on the natural environment information.

The vehicle running environment may refer to a running environment in which the vehicle itself is located. The vehicle running environment may be a plurality of running environments set in advance, and the vehicle running environment is associated with natural environment information. The vehicle running environment may include a normal running environment and an abnormal running environment. The abnormal running environment may refer to a running environment in which the image pickup device in the target vehicle cannot accurately recognize the speed limit.

Specifically, the vehicle running environment of the target vehicle is determined based on the natural environment information and a preset association relationship.

On the basis of the above technical solution, "determining the vehicle running environment based on the natural environment information" may include: determining the visibility of the target vehicle based on the weather information, and determining a visibility running environment in the vehicle running environment based on the visibility and a preset visibility threshold; and determining the illumination running environment in the vehicle running environment based on the illumination information and the preset illumination intensity threshold value.

Visibility may refer to the maximum distance that a person with normal vision can recognize an object from the background. Visibility may be used to characterize the quality of the environment in which the vehicle is traveling, reflecting the speed limit recognition capabilities of the image capture devices in the vehicle in a certain visibility. The preset visibility threshold may refer to a preset minimum visibility value for the image capturing device to accurately identify the speed limit. The visibility running environment may refer to a running environment determined based on visibility. The illumination information may be used to characterize the illumination of the environment in which the vehicle is traveling. The preset illumination intensity threshold may refer to a preset minimum illumination intensity value for accurately identifying the speed limit by the image acquisition device. The illumination running environment may refer to a running environment determined based on illumination information.

Specifically, if the weather information is extreme weather, obtaining the visibility of the road on which the target vehicle is driven from the embedded navigation; if the visibility is less than or equal to the preset visibility threshold value, determining that the running environment information is a low-visibility running environment (abnormal running environment); and if the weather information is non-extreme weather, determining that the running environment information is a normal running environment. And/or determining the illumination intensity based on the illumination information, and if the illumination intensity is less than or equal to a preset illumination intensity threshold value, determining the running environment information as a low-illumination running environment (abnormal running environment); and if the illumination intensity is larger than the preset illumination intensity threshold value, determining that the driving environment information is a normal driving environment. If the determination result of the presence of one piece of running environment information is an abnormal running environment, the running environment information of the target vehicle may be directly determined as the abnormal running environment. On the contrary, only when the judgment result of all the running environment information is the normal running environment, the running environment information of the target vehicle can be determined to be the normal running environment.

S130, determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image.

The target speed limit information may refer to accurate speed limit information in the current driving road. The target speed limit information may be used to adjust a driving strategy of the target vehicle during automatic driving. The target speed limit information can also be used for adjusting speed limit information displayed to a user in the navigation process in the intelligent driving process.

Specifically, the correspondence relationship between each vehicle running environment and the speed limit information determination manner may be set in advance. When the vehicle running environment is determined, a corresponding speed limit information determining mode is determined based on the vehicle running environment, and navigation speed limit information and/or speed limit sign images are selected based on the speed limit information determining mode to determine the target speed limit information of the vehicle running road.

According to the technical scheme, navigation speed limit information, natural environment information and speed limit sign images are obtained in the running process of the target vehicle; the natural environment information comprises weather information and illumination information; determining a vehicle running environment based on the natural environment information; and determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image, so that the speed limit information of the road on which the vehicle is driven is accurately determined under different vehicle driving environments, and further, the driving experience of a user is improved.

Based on the technical scheme, the method further comprises the following steps: after the target speed limit information of the vehicle traveling road is determined, a target control strategy of the target vehicle is determined based on the current control strategy of the target vehicle and the target speed limit information.

The current control strategy may refer to a current control strategy corresponding to a target vehicle that starts a cruise control function. The target control strategy may refer to a vehicle control strategy that is adjusted based on external factors.

Specifically, if the target vehicle starts the cruise control function (such as the ACC function), after determining the target speed limit information of the vehicle driving road, comparing the cruise control speed of the vehicle set in the current control strategy with the target speed limit information to obtain small information, and updating the target control strategy of the target vehicle by using the smaller speed determined by comparison, so as to consider the road speed limit and the user cruise setting, and improve the user driving experience.

Example two

Fig. 2 is a flowchart of a speed limit information determining method according to a second embodiment of the present invention, and the process of determining the target speed limit information of the vehicle driving road is described in detail on the basis of the above embodiment. Wherein the explanation of the same or corresponding terms as those of the above embodiments is not repeated herein.

As shown in fig. 2, the method includes:

s210, acquiring navigation speed limit information, natural environment information and speed limit sign images in the running process of the target vehicle.

Wherein, the natural environment information includes weather information and illumination information.

S220, determining the vehicle running environment based on the natural environment information.

S230, when the vehicle running environment meets the condition of the normal running environment, current speed limit information corresponding to the speed limit sign image and current confidence corresponding to the current speed limit information are obtained.

The condition of the normal running environment may be that the image acquisition device can accurately identify the running environment of the speed limit information. The current speed limit information may refer to speed limit information in a current driving road upper speed limit sign image identified by the image acquisition device. The current confidence level may refer to the confidence level of the identified current speed limit information.

For example, if the running environment information is an abnormal running environment such as a low-visibility running environment or a low-light running environment, the navigation speed limit information is determined as the target speed limit information of the vehicle running road.

Based on the above technical solution, the "obtaining the current speed limit information corresponding to the speed limit sign image and the current confidence corresponding to the current speed limit information" may include: inputting the speed-limiting sign image into a pre-trained image recognition model, and determining current speed-limiting information corresponding to the speed-limiting sign image and current confidence corresponding to the current speed-limiting information based on the output of the image recognition model.

The pre-trained image recognition model can be an image recognition model which is subjected to deep learning based on a large number of training samples in advance and model accuracy verification by adopting test samples. The image recognition model may be constructed using a deep neural network.

Specifically, the speed limit signpost image is input into a pre-trained image recognition model, a recognition result with highest confidence in a plurality of recognition results and the confidence corresponding to the recognition result are obtained based on the output of the image recognition model, the recognition result is determined to be current speed limit information corresponding to the speed limit signpost image, and the confidence corresponding to the recognition result is determined to be current confidence corresponding to the current speed limit information.

S240, determining target speed limit information of a vehicle driving road based on the current speed limit information, the current confidence coefficient, a preset confidence coefficient threshold value and the navigation speed limit information.

The preset confidence threshold value can be used for representing the minimum confidence corresponding to the accurate speed limit information. Specifically, based on the current speed limit information and the current confidence coefficient, a comparison result is obtained, and based on the comparison result, the current speed limit information or the navigation speed limit information is selected as the target speed limit information of the vehicle driving road.

Based on the above technical solution, "determining the target speed limit information of the vehicle driving road based on the current speed limit information, the current confidence level, the preset confidence level threshold value, and the navigation speed limit information" may include: if the current confidence coefficient is greater than or equal to a preset confidence coefficient threshold value, determining target speed limit information of a vehicle driving road based on the current speed limit information and the navigation speed limit information; and if the current confidence coefficient is smaller than the preset confidence coefficient threshold value, determining the navigation speed limit information as target speed limit information of the vehicle driving road.

Specifically, if the current confidence coefficient is greater than or equal to a preset confidence coefficient threshold value, indicating that the current speed limit information in the determined speed limit sign image is clear, determining target speed limit information of a vehicle driving road based on the current speed limit information and the navigation speed limit information; if the current confidence coefficient is smaller than the preset confidence coefficient threshold value, the current speed limiting information in the determined speed limiting sign image is not clear, and the navigation speed limiting information is determined to be the target speed limiting information of the vehicle driving road.

According to the technical scheme, when the vehicle running environment meets the condition of the normal running environment, current speed limit information corresponding to the speed limit sign image and current confidence coefficient corresponding to the current speed limit information are obtained; and determining target speed limit information of the vehicle running road based on the current speed limit information, the current confidence coefficient, the preset confidence coefficient threshold value and the navigation speed limit information, so that comparison and judgment are carried out through the current confidence coefficient and the preset confidence coefficient threshold value, the target speed limit information of the vehicle running road is determined based on the comparison result, and further, the speed limit information of the vehicle running road is accurately determined when the target vehicle is in a normal running environment, and the driving experience of a user is further improved.

On the basis of the above technical solution, "determining the target speed limit information of the vehicle driving road based on the current speed limit information and the navigation speed limit information" may include: acquiring the current running state of the target vehicle when ramp information exists in the current speed limit information; and determining target speed limit information of the vehicle driving road based on the current driving state, the current speed limit parameter value in the current speed limit information and the navigation speed limit information.

The ramp information can be information indicating that the speed limit sign is ramp speed limit. The ramp information may be, but is not limited to, ramp words and ramp patterns. The current running state may refer to the current running intention of the target vehicle. For example, the current driving state may be, but is not limited to, an on ramp state, and a continuous straight state. For example, a combination of (speed limit parameter value+ramp) may be included in the current speed limit information.

Specifically, when ramp information exists in the current speed limit information, if the target vehicle is driven to the right and the center of the rear axle and the road edge of the target vehicle are smaller than the driving deviation threshold value, the intention of the target vehicle to enter the ramp is judged, and the current speed limit parameter value in the current speed limit information is determined to be the target speed limit information of the vehicle driving road at the moment. Otherwise, if the target vehicle does not have the above-mentioned action, the target vehicle is considered to have no ramp-in intention, and the navigation speed limit information is determined as the target speed limit information of the vehicle driving road at the moment.

Illustratively, ramp information may also be replaced with ramp information. The ramp information may refer to information indicating that the speed limit on the speed limit sign is the speed limit of the ramp. The ramp information may be, but is not limited to, ramp text and ramp patterns. For example, a combination of (speed limit parameter value+ramp) is included in the current speed limit information.

On the basis of the above technical solution, "determining the target speed limit information of the vehicle driving road based on the current driving state, the current speed limit parameter value in the current speed limit information, and the navigation speed limit information" may include: if the current running state is the on ramp state, determining the current speed limit parameter value in the current speed limit information as target speed limit information of the vehicle running road; and if the current running state is the continuous straight running state, determining the navigation speed limit information as target speed limit information of the running road of the vehicle.

Specifically, if the current running state is an entrance ramp state, indicating that the target vehicle is about to enter a ramp, determining a current speed limit parameter value in the current speed limit information as target speed limit information of a vehicle running road; if the current running state is a continuous straight running state, indicating that the target vehicle continues to run straight and does not drive into the ramp, determining the navigation speed limit information as the target speed limit information of the vehicle running road.

The speed limit information determining device provided by the embodiment of the invention can execute the speed limit information determining method provided by any embodiment of the invention, and has the corresponding beneficial effects of executing the speed limit information determining method.

The following is an embodiment of a speed limit information determining apparatus provided by an embodiment of the present invention, which belongs to the same inventive concept as the speed limit information determining method of each of the above embodiments, and reference may be made to the embodiment of the speed limit information determining method for details which are not described in detail in the embodiment of the speed limit information determining apparatus.

Example III

Fig. 3 is a schematic structural diagram of a speed limit information determining device according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: an information acquisition module 310, a vehicle travel environment determination module 320, and a target speed limit information determination module 330.

The information acquisition module 310 is used for acquiring navigation speed limit information, natural environment information and speed limit sign images in the running process of the target vehicle; the natural environment information comprises weather information and illumination information; a vehicle running environment determination module 320 for determining a vehicle running environment based on the natural environment information; the target speed limit information determining module 330 is configured to determine target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image.

According to the technical scheme, navigation speed limit information, natural environment information and speed limit sign images are obtained in the running process of the target vehicle; the natural environment information comprises weather information and illumination information; determining a vehicle running environment based on the natural environment information; and determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image, so that the speed limit information of the road on which the vehicle is driven is accurately determined under different vehicle driving environments, and further, the driving experience of a user is improved.

On the basis of the above technical solution, the vehicle driving environment determining module 320 is specifically configured to: determining the visibility of the target vehicle based on the weather information, and determining a visibility running environment in the vehicle running environment based on the visibility and a preset visibility threshold; and determining the illumination running environment in the vehicle running environment based on the illumination information and the preset illumination intensity threshold value.

Based on the above technical solution, the target speed limit information determining module 330 may include:

The current speed limit information acquisition sub-module is used for acquiring current speed limit information corresponding to the speed limit sign image and current confidence coefficient corresponding to the current speed limit information when the vehicle running environment meets the condition of the normal running environment;

the target speed limit information determining sub-module is used for determining target speed limit information of a vehicle driving road based on the current speed limit information, the current confidence coefficient, a preset confidence coefficient threshold value and the navigation speed limit information.

Based on the above technical solution, the "obtaining the current speed limit information corresponding to the speed limit sign image and the current confidence corresponding to the current speed limit information" in the current speed limit information obtaining sub-module is specifically used for: inputting the speed-limiting sign image into a pre-trained image recognition model, and determining current speed-limiting information corresponding to the speed-limiting sign image and current confidence corresponding to the current speed-limiting information based on the output of the image recognition model.

On the basis of the above technical solution, the target speed limit information determining submodule may include:

The first target speed limit information determining unit is used for determining target speed limit information of a vehicle driving road based on the current speed limit information and the navigation speed limit information if the current confidence coefficient is greater than or equal to a preset confidence coefficient threshold value;

and the second target speed limit information determining unit is used for determining the navigation speed limit information as the target speed limit information of the vehicle driving road if the current confidence coefficient is smaller than the preset confidence coefficient threshold value.

On the basis of the above technical solution, the "determining the target speed limit information of the vehicle running road based on the current speed limit information and the navigation speed limit information" in the first target speed limit information determining unit may include:

the current running state acquisition subunit is used for acquiring the current running state of the target vehicle when ramp information exists in the current speed limit information;

And the target speed limit information determining subunit is used for determining the target speed limit information of the vehicle driving road based on the current driving state, the current speed limit parameter value in the current speed limit information and the navigation speed limit information.

Based on the above technical solution, the target speed limit information determining subunit is specifically configured to: if the current running state is the on ramp state, determining the current speed limit parameter value in the current speed limit information as target speed limit information of the vehicle running road; and if the current running state is the continuous straight running state, determining the navigation speed limit information as target speed limit information of the running road of the vehicle.

The speed limit information determining device provided by the embodiment of the invention can execute the speed limit information determining method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the speed limit information determining method.

It should be noted that, in the above embodiment of determining the speed limit information, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding function can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

Example IV

Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as the speed limit information determination method.

In some embodiments, the speed limit information determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the speed limit information determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the speed limit information determination method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

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

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (11)

1. A speed limit information determination method, characterized by comprising:

Acquiring navigation speed limit information, natural environment information and a speed limit sign image in the running process of a target vehicle; the natural environment information comprises weather information and illumination information;

Determining a vehicle running environment based on the natural environment information;

And determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image.

2. The method of claim 1, wherein the determining a vehicle travel environment based on the natural environment information comprises:

Determining the visibility of the target vehicle based on the weather information, and determining a visibility running environment in a vehicle running environment based on the visibility and a preset visibility threshold;

And determining the illumination running environment in the vehicle running environment based on the illumination information and a preset illumination intensity threshold value.

3. The method of claim 1, wherein the determining the target speed limit information for the vehicle travel path based on the vehicle travel environment, the navigation speed limit information, and the speed limit sign image comprises:

When the vehicle running environment meets the condition of the normal running environment, acquiring current speed limit information corresponding to the speed limit sign image and current confidence coefficient corresponding to the current speed limit information;

And determining target speed limit information of a vehicle driving road based on the current speed limit information, the current confidence coefficient, a preset confidence coefficient threshold value and the navigation speed limit information.

4. The method of claim 3, wherein the obtaining the current speed limit information corresponding to the speed limit sign image and the current confidence corresponding to the current speed limit information comprises:

inputting the speed limit sign image into a pre-trained image recognition model, and determining current speed limit information corresponding to the speed limit sign image and current confidence corresponding to the current speed limit information based on the output of the image recognition model.

5. The method of claim 3, wherein the determining the target speed limit information for the vehicle travel path based on the current speed limit information, the current confidence level, a preset confidence threshold, and the navigational speed limit information comprises:

If the current confidence coefficient is larger than or equal to a preset confidence coefficient threshold value, determining target speed limit information of a vehicle driving road based on the current speed limit information and the navigation speed limit information;

And if the current confidence coefficient is smaller than a preset confidence coefficient threshold value, determining the navigation speed limit information as target speed limit information of a vehicle driving road.

6. The method of claim 5, wherein the determining the target speed limit information for the vehicle travel path based on the current speed limit information and the navigation speed limit information comprises:

acquiring the current running state of the target vehicle when ramp information exists in the current speed limit information;

And determining target speed limit information of a vehicle driving road based on the current driving state, the current speed limit parameter value in the current speed limit information and the navigation speed limit information.

7. The method of claim 6, wherein the determining the target speed limit information for the vehicle travel path based on the current travel state, the current speed limit parameter value in the current speed limit information, and the navigation speed limit information comprises:

If the current running state is an on ramp state, determining a current speed limit parameter value in the current speed limit information as target speed limit information of a vehicle running road;

And if the current running state is a continuous straight running state, determining the navigation speed limit information as target speed limit information of a vehicle running road.

8. The method according to claim 1, further comprising, after determining the target speed limit information of the vehicle travel path:

And determining a target control strategy of the target vehicle based on the current control strategy of the target vehicle and the target speed limit information.

9. A speed limit information determination apparatus, comprising:

The information acquisition module is used for acquiring navigation speed limit information, natural environment information and speed limit sign images in the running process of the target vehicle; the natural environment information comprises weather information and illumination information;

a vehicle running environment determining module for determining a vehicle running environment based on the natural environment information;

And the target speed limit information determining module is used for determining target speed limit information of a vehicle driving road based on the vehicle driving environment, the navigation speed limit information and the speed limit sign image.

10. An electronic device, the electronic device comprising:

one or more processors;

a memory for storing one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the speed limit information determination method of any one of claims 1-8.

11. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a speed limit information determination method according to any one of claims 1-8.