WO2021115223A1

WO2021115223A1 - Method, apparatus and system for determining safe speed

Info

Publication number: WO2021115223A1
Application number: PCT/CN2020/134245
Authority: WO
Inventors: 周伟
Original assignee: 华为技术有限公司
Priority date: 2019-12-10
Filing date: 2020-12-07
Publication date: 2021-06-17
Also published as: CN112937573A

Abstract

A method for determining a safe speed. An intelligent vehicle (1, 2, 3) can determine information of the radius of curvature of a road on which the intelligent vehicle is located, and can determine, according to a preset correlation between the radii of curvature (R₁, R₂ and R₃) and the speed, a safe speed corresponding to the information of the radii of curvature (R₁, R₂ and R₃), thereby restricting or giving a prompt regarding a traveling state of the intelligent vehicle according to a safe speed. By means of the method, a safe speed of a moving object (1, 2, 3) when traveling along a curve can be determined, and the safety of the moving object (1, 2, 3) when traveling along the curve can be improved.

Description

Method, device and system for determining safe speed

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on December 10, 2019, the application number is 201911262164.0, and the application name is "a method, device and system for determining a safe speed", the entire content of which is incorporated by reference In this application.

Technical field

This application relates to the field of electronic technology, and in particular to a method, device and system for determining a safe speed.

Background technique

With the development of electronic technology, the driving process of moving objects (such as mobile robots, smart cars, etc.) can be controlled by a control system to ensure the mobility and safety of the moving objects. For example, in automatic driving and assisted driving, smart cars need to detect the surrounding environment, and plan and make decisions about driving paths and driving speeds based on the detected information, thereby completing automatic driving and assisted driving. One of the functions that can be used in current automatic driving and assisted driving is adaptive cruise control (ACC). The ACC system collects road information and vehicle speed signals through sensors, and aims to control the smart car to maintain a constant speed and distance from the vehicle in front when it is following or driving at cruising speed. However, how to ensure the safety of a moving object when driving on a curve becomes a problem to be solved.

Summary of the invention

The embodiment of the present application provides a method for determining a safe speed, which can improve the safety of a moving object when driving on a curve.

In the first aspect, an embodiment of the present application provides a method for determining a safe speed, wherein, taking the execution of a moving object as an example, the moving object determines the curvature radius information of the road on which it is located. Determine the safe speed corresponding to the curvature radius information according to the preset correspondence between the radius of curvature and the speed, where the safe speed is the speed at which the road is driven with the lowest safety index. With this method, when a moving object is driving on a curve, the corresponding safe speed can be determined according to the radius of curvature of the road on which it is located, which can improve the safety of the moving object when traveling on a curve.

In a possible design, the curvature radius information is determined according to road detection information, and the road detection information includes at least one of the following:

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In a possible design, the curvature radius information is obtained by fusion processing of at least two kinds of road detection information.

In a possible design, in the fusion processing process, the boundary information of the road and/or the lane line information of the road is the first weight, and the driving trajectory information and/or the moving object ahead The driving trajectory information of the side moving object is a second weight, and the first weight is higher than the second weight.

In a possible design, the device for determining a safe speed determines a curve equation according to the road detection information;

The curvature radius information is determined according to the curve equation.

In a possible design, the corresponding relationship is determined according to the relationship between the speed and the minimum radius of the circular curve in the highway design specification.

In a possible design, the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.

In a possible design, the device for determining the safe speed may also adjust the driving state according to the safe speed and/or output first prompt information, where the first prompt information is used to prompt that the current driving speed has exceeded the safe speed . After the safe speed is determined, the device for determining the safe speed may further adjust the driving state of the moving object and/or output the first prompt message to ensure the safety of the moving object when running on the curve.

In a possible design, if it is determined that the current driving road is a straight road, the driving state is adjusted according to the historical driving speed and/or the second prompt message is output, and the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed. , The second prompt information is used to prompt to lift the limit of the safe speed.

In a possible design, the road detection information may be obtained by sensors, and the sensors include one or more of millimeter wave radar, laser radar, ultrasonic radar, and vision sensors.

In the second aspect, an embodiment of the present application provides a device for determining a safe speed, including:

Processing unit, used to determine the curvature radius information of the road;

The processing unit is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between a radius of curvature and a speed, where the safe speed is a speed for driving on the road with the lowest safety index;

The transceiver unit is used to output the safe speed.

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In a possible design, the transceiver unit is further configured to receive the curvature radius information.

In a possible design, the transceiver unit is further configured to output first prompt information, and the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.

In a possible design, the transceiving unit is further configured to output second prompt information, and the second prompt information is used to prompt to release the restriction on the safe speed.

In a possible design, the driving speed limiting device further includes a control unit; the control unit is used to adjust the driving state according to the safe speed.

In a possible design, the processing unit is also used for:

Make sure that the current driving road is a straight road;

The control unit is further configured to adjust the driving state according to the historical driving speed, where the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed.

In a third aspect, an embodiment of the present application provides an apparatus for determining a safe speed, including a processor, the processor is coupled with a communication interface, so that the processor is used to read instructions to execute the following method:

Determine the curvature radius information of the road;

According to the preset correspondence between the radius of curvature and the speed, the safe speed corresponding to the curvature radius information is determined, and the safe speed is the speed at which the vehicle travels on the road with the lowest safety index.

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In a possible design, the processor is further configured to receive the curvature radius information through a communication interface.

In a possible design, the processor is further configured to output first prompt information through the communication interface, where the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.

In a possible design, the processor is further configured to output second prompt information through the communication interface, and the second prompt information is used to prompt to release the restriction on the safe speed.

In a possible design, the processor is also used to adjust the driving state according to the safe speed.

In a possible design, the processor is also used to determine that the current driving road is a straight road;

The driving state is adjusted according to the historical driving speed, and the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed.

In a fourth aspect, an embodiment of the present application provides a sensor control system, including: a processing device, a control device, and a sensor, where:

Processing device, used to determine the curvature radius information of the road;

The processing device is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between a radius of curvature and a speed, where the safe speed is a speed for driving on the road with the lowest safety index;

The control device is used to adjust the driving state according to the safe speed.

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In a possible design, the sensor control system further includes a transceiving device; the transceiving device is configured to receive the curvature radius information.

In a possible design, the transceiver device is also used to output first prompt information, and the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.

In a possible design, the transceiver device is also used to output second prompt information, and the second prompt information is used to prompt to release the restriction on the safe speed.

In a possible design, the control device is used to adjust the driving state according to the safe speed.

In a possible design, the processing device is also used to determine that the current driving road is a straight road;

The control device is further configured to adjust the driving state according to the historical driving speed, and the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed.

In a fifth aspect, an embodiment of the present application provides a smart car that includes the safe speed determining device provided in the second aspect described above, or includes the safe speed determining device provided in the third aspect described above, or includes the first The sensor control system provided by the four aspects.

In a sixth aspect, an embodiment of the present application provides a mobile robot that includes the safe speed determining device provided in the second aspect described above, or includes the safe speed determining device provided in the third aspect described above, or includes the first The sensor control system provided by the four aspects.

In a seventh aspect, embodiments of the present application provide a computer-readable storage medium. The computer-readable storage medium includes a program or instruction. When the program or instruction runs on a computer, the computer executes the first aspect or the first aspect. Any one of the possible implementations of the method described in any one.

In an eighth aspect, the embodiments of the present application provide a chip or chip system. The chip or chip system includes at least one processor and an interface. The interface and the at least one processor are interconnected through a wire, and the at least one processor is used to run computer programs or instructions. The method described in any one of the first aspect to the first aspect may be implemented.

Among them, the interface in the chip can be an input/output interface, a pin, or a circuit.

The chip system in the above aspect may be a system on chip (SOC), or a baseband chip, etc., where the baseband chip may include a processor, a channel encoder, a digital signal processor, a modem, and an interface module.

In a possible implementation, the chip or chip system described above in this application further includes at least one memory, and instructions are stored in the at least one memory. The memory may be a storage unit inside the chip, for example, a register, a cache, etc., or a storage unit of the chip (for example, a read-only memory, a random access memory, etc.).

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments.

FIG. 1a is a schematic diagram of a driving scene of a smart car provided by an embodiment of the application;

FIG. 1b is a schematic diagram of another driving scene of a smart car provided by an embodiment of the application;

FIG. 1c is a schematic diagram of another driving scene of a smart car provided by an embodiment of the application;

2 is a schematic flowchart of a method for determining a safe speed provided by an embodiment of this application;

FIG. 3 is a schematic flowchart of another method for determining a safe speed provided by an embodiment of the application;

4 is a schematic flowchart of another method for determining a safe speed provided by an embodiment of the application;

FIG. 5 is a schematic diagram of determining a reference moving object according to an embodiment of this application;

FIG. 6 is another schematic diagram of determining a reference moving object provided by an embodiment of this application;

FIG. 7 is a schematic structural diagram of a device for determining a safe speed provided by an embodiment of the application;

FIG. 8 is a schematic structural diagram of a device for determining a safe speed provided by an embodiment of the application;

FIG. 9 is a schematic structural diagram of a sensor control system provided by an embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

Before the description of the embodiments of the present application, the related background technology is first introduced.

With the development of electronic technology, the driving process of a moving object can be controlled by a control system to ensure the mobility and safety of the moving object during the driving process. Among them, the mobile objects described in the embodiments of the present application may include, but are not limited to, mobile robots, smart cars, and the like. Among them, taking smart cars as an example, in autonomous driving and assisted driving, smart cars can perceive the surrounding environment through sensors. Among them, the sensors may include, but are not limited to, millimeter wave radar, laser radar, ultrasonic radar, and vision sensors. The smart car can detect and classify the environment around the vehicle through sensors, and transmit this information to the planning and control module to form a decision on the future travel path of the vehicle, and finally execute it through the actuator to complete the entire assisted driving or automatic driving the process of.

The adaptive cruise control (ACC) system is an intelligent automatic control system designed to assist the driver in maintaining a constant speed and distance from the vehicle in front during driving, providing a better driving experience. Among them, the ACC system can continuously scan the road in front of the vehicle through the sensor to ensure the distance to the vehicle in front, and at the same time collect the vehicle speed signal through the sensor to maintain a constant driving speed.

In an example, taking a smart car as an example, a driving scene of the smart car 1 is shown in Fig. 1a. In the driving scenario shown in FIG. 1 a, there is no other smart car in the front and the side of the smart car 1, and the smart car 1 is driving in the lane 1. Among them, the lane 1 is a curve. In the lane 1 shown in FIG. 1a, the smart car 1 travels in the direction of the arrow shown in FIG. 1a. For example, in the driving scenario shown in Fig. 1a, the ACC system can be used to control the smart car 1 to drive on the lane 1 at a speed of 80 kilometers per hour (km/h).

In an example, during the driving of the moving object, the information of other moving objects can also be detected. Another driving scene of the smart car 1 is shown in Fig. 1b. In the driving scenario shown in Fig. 1b, there is a smart car 2 in front of the smart car 1, and both the smart car 2 and the smart car 1 are driving in the lane 1, and the driving directions of the smart car 2 and the smart car 1 are the same. Drive in the direction of the arrow shown. In order to facilitate the distinction, this embodiment introduces the concept of a target moving object and a reference moving object. Among them, the target moving object refers to the moving object for which the driving speed is limited, such as the smart car 1 in Fig. 1b. The reference moving object may include a vehicle in front of the road where the target moving object is located and/or a vehicle near the lane of the target moving object, such as the smart car 2 in Fig. 1b. In the driving scenario shown in Fig. 1b, the smart car 1 can use the ACC system to control the following car, keep the driving speed at 80km/h, and keep the following distance with the smart car 2 at 45 meters.

Optionally, another driving scene of the smart car 1 is shown in Fig. 1c. It should be noted that the driving scene shown in Figure 1c is compared to the driving scene shown in Figure 1b. There is also a smart car 3 on the side of the smart car 1. The smart car 3 is driving in lane 2. Lane 2 and lane 1 are Adjacent lanes. Among them, in the driving scene shown in FIG. 1c, the smart car 3 travels in the direction of the arrow shown in FIG. 1c. It can be understood that the smart car 3 is also a reference moving object of the smart car 1. It should be noted that the forward moving objects and/or side moving objects described in this embodiment may be one or more. For example, in the driving scene shown in FIG. 1c, it may also include other smart cars driving in lane 1. Or other smart cars running in lane 2 are not limited in this embodiment.

In the driving scenes shown in FIGS. 1a to 1c, the moving object is the smart car 1, and the smart car 1 is driving on the lane 1. When the smart car 1 is driving on a curve, if the radius of curvature of the curve is too small and the cruising speed of the smart car 1 is not controlled, it may cause a safety accident. In order to avoid the occurrence of safety accidents, the embodiments of the present application provide a method for determining a safe speed, which can improve the safety of a moving object when driving on a curve.

The method for determining the safe speed may be executed by a moving object, that is, the execution subject of the method for determining the safe speed may be a mobile robot, a smart car, or the like. Optionally, the method for determining the safe speed can also be executed by a chip, a processor, or a device for determining a safe speed, where the chip, a processor, or a device for determining a safe speed can be installed in a moving object so as to pass the chip, process The device or the device for determining a safe speed executes the method for determining a safe speed provided by the embodiments of the present application, so as to improve the safety of the moving object when driving on a curve. The following embodiment takes the execution subject as an example of a smart car.

The sensor may be installed in the execution body of the method for determining the safe speed. For example, the sensor may be installed in the front of the smart car to obtain road detection information. Optionally, the sensor may be independent of the execution body of the method for determining the safe speed. For example, the sensor may be installed on both sides of the road, and the acquired road detection information may be sent to the smart car. This embodiment is not limited.

The following will be described in conjunction with specific embodiments.

The embodiment of the present application provides a method for determining a safe speed. Please refer to FIG. 2, which includes the following steps:

S201: The smart car determines the curvature radius information of the road on which it is located.

The radius of curvature information is used to indicate the degree of curvature of the road, where the radius of curvature information may indicate the radius of curvature of the road where the target moving object is located, and may also indicate the radius of curvature corresponding to the driving trajectory of the reference moving object. For example, in the driving scene shown in FIG. 1a, the radius of curvature information indicates the radius of curvature of lane 1. For another example, in the driving scene shown in FIG. 1b, the radius of curvature information includes the radius of curvature of the lane 1 and the radius of curvature corresponding to the driving trajectory of the smart car 2.

In an example, the curvature radius information may be determined according to road detection information. Wherein, the road detection information can be obtained through sensor detection. For example, a sensor installed on the smart car 1 can perform fixed-point detection on the boundary of the road (such as guardrails on both sides of the road, etc.) to obtain sensor data of multiple detection points. Optionally, for the target mobile object, the road detection information may include, but is not limited to, the boundary information of the road and/or the lane line information of the road. Wherein, the road is the road where the target moving object is located. For example, the road is the lane 1 where the smart car 1 is located in the driving scene shown in FIG. 1a. The boundary information of the road may include, but is not limited to, the detection information of the guardrail beside the road, the detection information of the street lamp beside the road, the detection information of the curb beside the road, and the like. For example, the visual sensor installed on the smart car 1 can detect at a fixed point (the position of each street lamp next to the road as shown in Fig. 1a) during the driving of the smart car 1, so as to obtain the detection information of each street lamp. The lane line information of the road may include, but is not limited to, the driving trajectory information of the target moving object, the detection information of the lane line of the road, and the like. For example, the visual sensor installed on the smart car 1 can perform detection at a certain time interval (such as 50 milliseconds) during the driving of the smart car 1, so as to obtain the detection information of the lane line of the road.

Optionally, when there is a reference moving object, the road detection information may include, but is not limited to, the boundary information of the road, the lane line information of the road, the driving trajectory information of the moving object ahead, and the driving trajectory information of the moving side moving object. . Among them, the front moving object (smart car 2 as shown in FIG. 1c) and the side moving object (smart car 3 as shown in FIG. 1c) are both reference moving objects. It can be understood that the road detection information is acquired by the target moving object through road detection. Then for the front moving object and/or the side moving object, the target moving object can only track the driving trajectory of the front moving object and/or the side moving object, and obtain the driving trajectory information of the front moving object and/or the side moving object . For example, a sensor installed on the smart car 1 can track the smart car 2 and obtain the driving trajectory information of the smart car 2. Optionally, the moving object in front is preferably a vehicle traveling in front of the lane where the smart car is located. For example, in the driving scene shown in FIG. 1 b, for the smart car 1, the moving object in front is preferably the smart car 2. The side moving object is preferably a vehicle running on an adjacent lane of a smart car. For example, in the driving scene shown in FIG. 1c, for the smart car 1, the side moving object is preferably the smart car 3.

In an example, the curvature radius information may be obtained by fusion processing of at least two kinds of road detection information. Fusion processing is to combine multiple road detection data detected by the sensor according to different weights to obtain the curvature radius information of the road. Among them, in the fusion process, the boundary information of the road and/or the lane line information of the road is the first weight, and the driving trajectory information of the moving object in front and/or the driving trajectory information of the moving object on the side is the second weight. The weight is higher than the second weight.

S202: The smart car determines a safe speed corresponding to the curvature radius information according to the preset correspondence between the curvature radius and the speed.

After the smart car determines the radius of curvature indicated by the radius of curvature information of the road on which it is located, it can determine the safe speed corresponding to the radius of curvature according to the preset correspondence between the radius of curvature and the speed. Wherein, the safe speed is the speed at which the smart car is traveling on the road with the lowest safety index, and the driving with the lowest safety index represents a critical state where a smart car will not have a safety accident on the road. For example, when the safe speed is 80km/h, it means that the maximum speed at which the smart car 1 will not have a safety accident on the lane 1 is 80km/h. If driving at a speed exceeding 80km/h, safety accidents may occur (such as crashing into the curb when driving on a curve, etc.).

In an example, the preset corresponding relationship between the radius of curvature and the speed is determined according to the relationship between the speed and the minimum radius of the circular curve in the highway design specification. For example, the relationship between a speed and the minimum radius of a circular curve can be shown in Table 1.

Table 1: The relationship between a speed and the minimum radius of a circular curve

Among them, the speed in Table 1 represents the maximum speed for safe driving under the corresponding minimum radius of the circular curve, and the minimum radius of the circular curve represents the radius of curvature. For example, if the radius of curvature of lane 1 is 700m, then the safe speed of smart car 1 when driving on a curve in lane 1 is 100km/h. It is understandable that Table 1 described in this embodiment is only an example in a road situation, and the correspondence between speed and the minimum radius of the circular curve may be different in different regions or different road conditions. This embodiment The examples are not limited.

Optionally, if the radius of curvature indicated by the radius of curvature information is not in the preset corresponding relationship between the radius of curvature and the speed, the speed corresponding to the reference radius of curvature can be found in the corresponding relationship between the preset radius of curvature and the speed as the corresponding safe speed. . Wherein, the reference radius of curvature is smaller than the radius of curvature, and the difference between the reference radius of curvature and the radius of curvature is smaller than the difference between other radii of curvature and the radius of curvature. For example, when the radius of curvature is 800m, the speed corresponding to the minimum radius of the circular curve of 800m cannot be directly queried in Table 1 above. Then, the speed 100km/h corresponding to the minimum radius of 700m of the circular curve with the smallest difference of 800m is taken as the corresponding safe speed. In an implementation manner, the corresponding relationship between the minimum radius and speed of other circular curves can also be generated on the basis of Table 1. For example, by interpolating on the basis of Table 1 through a certain numerical relationship, Table 1 is updated to Table 2.

Table 2: The relationship between the updated speed and the minimum radius of the circular curve

Among them, there is no circular curve minimum radius of 300m and corresponding speed 70km/h in the original table 1. According to the minimum radius of two adjacent circular curves (400m and 200m) and the corresponding two speeds (80km/h and 60km/h) , The minimum radius of the circular curve of 300m and the corresponding speed of 70km/h can be inserted into the original table 1, and the new table 2 can be obtained. It is understandable that Table 2 described in this embodiment is only an example of interpolation, and multiple interpolations can also be added, which is not limited in this embodiment.

Optionally, if the radius of curvature indicated by the radius of curvature information is not in the preset corresponding relationship between the radius of curvature and the speed, the smart car can determine the safety according to the predetermined functional relationship between the radius of curvature indicated by the radius of curvature information and the safe speed. speed. For example, multiple radii of curvature (such as the radii of curvature of different roads, the radii of curvature corresponding to the driving trajectories of different smart cars, etc.) can be collected through sensors in advance, and a large amount of experimental data can be used to determine that the smart car is on the road corresponding to the multiple radii of curvature. Multiple safe speeds that will not cause a safety accident when driving on. Then, the functional relationship satisfied by the multiple radii of curvature and the multiple safe velocities can be determined by the method of data fitting, for example, the functional relationship satisfied by the multiple radii of curvature and the multiple safe velocities corresponds to a quadratic equation, and the specific two The formula of the sub-equation is not limited in this embodiment.

The embodiment of the present application provides a method for determining a safe speed. The smart car can determine the curvature radius information of the road on which it is located, and determine the safe speed corresponding to the curvature radius information according to the preset correspondence between the curvature radius and the speed. It can be seen that using this method can determine the safe speed of a moving object when driving on a curve, and can improve the safety of the moving object when traveling on a curve.

In combination with the method for determining the safe speed shown in FIG. 2, the embodiment of the present application provides another method for determining the safe speed, please refer to FIG. 3. The method for determining the safe speed can be applied to the driving scene as shown in Fig. 1a, and includes the following steps:

S301: The smart car obtains road detection information.

During the driving process, the smart car can continuously detect the road environment through sensors to obtain road detection information. Wherein, in the driving scene shown in FIG. 1a, the road detection information may include, but is not limited to, the boundary information of the road and/or the lane line information of the road. For the boundary information of the road and the lane line information of the road, please refer to the corresponding description in the embodiment shown in FIG. 2 and will not be repeated here. It should be noted that the road detection information may include detection information of multiple detection points. For example, the lane line information of the road includes detection information of multiple fixed points, and the detection information of multiple fixed points may form a curve.

S302: The smart car determines the curvature radius information of the road on which it is located.

After obtaining the road detection information, the smart car can determine the curvature radius information of the road on the basis of the road detection information. In this embodiment, the radius of curvature information indicates the radius of curvature of the road where the smart car is located. For example, the radius of curvature information indicates the radius of curvature of the lane 1 where the smart car 1 is located.

In an example, the information of the radius of curvature of the road may be determined according to the curve equation, including the following steps:

Determine the curve equation according to the road detection information;

The curvature radius information is determined according to the curve equation.

Among them, the curve equation is an example, which may be a cyclotron curve equation, which is not limited in this embodiment. For example, the road detection information may include the detection information of multiple detection points, and the detection information of multiple detection points can be data-fitted, and the cubic equation corresponding to the road curve can be generated as follows:

y(x)=c ₀ +c ₁ x+c ₂ x ² +c ₃ x ³

Among them, c ₂ is the coefficient of the quadratic term of the above cubic equation, which is related to the radius of curvature of the road. Specifically, the relationship between the coefficient and the radius of curvature is as follows:

c ₂ ＝1/2*R _r

Among them, R _r represents the radius of curvature of the road curve. Then, according to the cubic equation corresponding to the above road curve, the curvature radius information of the road can be determined, so as to determine the curvature radius indicated by the curvature radius information.

S303: The smart car determines a safe speed corresponding to the curvature radius information according to the preset correspondence between the radius of curvature and the speed. For S303 in this embodiment, reference may be made to S202 in the embodiment shown in FIG. 2, which will not be repeated here.

S304: The smart car adjusts the driving state according to the safe speed and/or outputs first prompt information.

After determining the safe speed, the smart car can also adjust the driving state of the smart car according to the safe speed, and/or output the first prompt message. In an example, if the current driving speed of the smart car is greater than the safe speed, the driving speed can be adjusted according to the safe speed. For example, the cruising speed set for the smart car 1 is 80km/h. When driving to a curve, if the safe speed corresponding to the radius of curvature of the curve is 70km/h, then the driving speed of the smart car 1 is reduced to less than or equal to the safe speed (for example, 60km/h). Optionally, if the current driving speed of the smart car is greater than the safe speed, first prompt information may be output, and the first prompt information is used to prompt that the current driving speed has exceeded the safe speed. According to the first prompt information, it can be determined whether to adjust the driving state of the moving object. For example, a smart car can play a prompt sound in the car to remind the driver that the current driving speed has exceeded the safe speed, and the driver can determine whether to adjust the driving speed.

In an example, during the driving of the smart car, when the smart car is driving to a curve, the driving speed is reduced according to a safe speed. When the smart car leaves a curve and is driving on a straight road, it can also readjust the driving state. Specifically, it can include the following steps:

The smart car determines that the current driving road is a straight road;

The smart car adjusts the driving state and/or outputs second prompt information according to the historical driving speed.

Among them, the smart car can continuously detect road information through sensors, and when it is determined that the current driving road is a straight road, the driving speed can be adjusted to the historical driving speed or the cruise speed set by the ACC system. Wherein, the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed. For example, the cruising speed set for the smart car 1 is 80km/h, that is, the historical driving speed is 80km/h. When driving to a curve, the driving speed of the smart car 1 is reduced to 60 km/h. If the smart car 1 leaves the curve and it is determined that the current driving road is a straight road, the driving speed can be adjusted to 80km/h. Optionally, if it is determined that the current driving road is a straight road, second prompt information may be output, and the second prompt information is used to prompt the lifting of the safety speed limit. According to the second prompt message, it can be determined whether to lift the safety speed limit.

The embodiment of the application provides a method for determining a safe speed. The smart car can obtain road detection information, determine the radius of curvature information of the road, and determine the corresponding relationship between the radius of curvature and the speed according to the preset corresponding relationship between the radius of curvature and the speed. Safe speed. It is also possible to adjust the driving state and/or output prompt information according to the safe speed. It can be seen that using this method can determine the safe speed of a moving object when driving in a curve, and adjust the driving state and/or output prompt information according to the safe speed, which can improve the safety of the moving object when traveling in a curve.

In combination with the method for determining the safe speed shown in FIG. 2, the embodiment of the present application provides another method for determining the safe speed, please refer to FIG. 4. The method for determining the safe speed can be applied to the driving scene as shown in Fig. 1b and/or Fig. 1c, and includes the following steps:

S401: The smart car obtains road boundary information and/or road lane line information.

In the driving scene shown in Fig. 1b and/or Fig. 1c, the road detection information may include, but is not limited to, the boundary information of the road, the lane line information of the road, the driving trajectory information of the moving object in front, and the moving object on the side. Trajectory information, etc. For the boundary information of the road and the lane line information of the road, please refer to the corresponding description in the embodiment shown in FIG. 2, which will not be repeated here.

S402: The smart car acquires the driving trajectory information of the moving object in front and/or the driving trajectory information of the moving object on the side.

If multiple reference moving objects are detected, the driving trajectory information of the multiple reference moving objects needs to be filtered and processed. Optionally, in a driving scene with lane lines, first, the corresponding lane line equation may be determined according to the lane line information of the road. Then for each reference moving object, according to the longitudinal distance between the reference moving object and the target moving object, it is substituted into the corresponding lane line equation, and the horizontal distance of the lower boundary point of the longitudinal distance of the reference moving object from the target moving object is obtained by solving. The lateral distance of the lower boundary point is compared with the lateral distance of the target moving object, and if a preset condition is met (for example, the distance difference is less than a preset threshold), it is determined that the reference moving object and the target moving object belong to the same lane. For example, referring to Figure 5, smart car 1 is the target moving object, and smart car 2 and smart car 3 are detected during driving. According to the detected driving trajectory information of the smart car 2, the longitudinal distance between the smart car 2 and the smart car 1 is substituted into the corresponding lane line equation to obtain the lateral distance 2. According to the detected driving trajectory information of the smart car 3, the longitudinal distance between the smart car 3 and the smart car 1 is substituted into the corresponding lane line equation to obtain the lateral distance 3. Compare the lateral distance 2 with the lateral distance 1, and compare the lateral distance 3 with the lateral distance 1. Among them, the distance difference between the lateral distance 2 and the lateral distance 1 is less than the preset threshold, but the distance difference between the lateral distance 3 and the lateral distance 1 is greater than the preset threshold, then the smart car 2 is determined to be the forward moving object, according to the smart car 2. The driving trajectory information determines the corresponding radius of curvature. It should be noted that the above processing method is suitable for curves with a large radius of curvature. In the case of a curve with a small radius of curvature, it is necessary to further perform geometric relationship processing on the boundary points of the lane line, which will not be repeated here.

Optionally, in a driving scenario that does not have a lane line, the smart car can be filtered according to the driving trajectory of multiple smart cars. For example, if the smart car detects a plurality of moving forward objects, the vehicle movement posture of the multiple moving forward objects is determined based on the detection data of the driving trajectory of the multiple moving forward objects. Referring to Fig. 6, the smart car 1 detects the smart car 2 and the smart car 3 during driving. Among them, the smart car 1, the smart car 2, and the smart car 3 all travel in the direction shown by the arrow in FIG. 6. The analysis of the driving trajectory information of smart car 2 and the driving trajectory information of smart car 3 shows that the vehicle movement posture of smart car 2 remains straight, and the vehicle movement posture of smart car 3 shifts to the right side of the driving direction, then the smart car 1. The smart car 2 can be used as a moving vehicle in front, and the corresponding radius of curvature can be determined according to the driving track information of the smart car 2.

It should be noted that the above-mentioned S401 and S402 are only in the order of labels, and the specific execution order is not limited in this embodiment. For example, a smart car can execute S401 after S402 is executed, or a smart car can execute S401 and S402 at the same time.

S403: The smart car performs fusion processing on the road detection information, and determines the curvature radius information of the road on which it is located.

Among them, the boundary information of the road and the lane line information of the road include the radius of curvature obtained through road detection, which has a higher weight. The driving trajectory information of the moving object ahead and/or the driving trajectory information of the moving side moving object corresponds to the radius of curvature of the driving trajectory, which can only partially reflect the radius of curvature of the driving road.

In an example, when the road detection information is fused, the following formula can be used:

Wherein, R represents a radius of curvature of the road where the post-processing data fusion is obtained, R _i represents the radius of curvature of the i-th, P _i represents a weight corresponding to the radius of curvature of the i-th weight information. It can be understood that the road detection information includes n radii of curvature, 1≤i≤n. For example, R ₁ is the radius of curvature corresponding to the boundary information of the road, R ₁ =750m, and its weight P ₁ is 1.5. R ₂ is the radius of curvature corresponding to the lane line information of the road, R ₂ =700m, and its weight P ₂ is 1. R ₃ is the radius of curvature corresponding to the travel trajectory information of the moving object ahead, R ₃ =650m, and its weight P ₃ is 0.5. Then, according to the above formula, the radius of curvature of the road obtained after the fusion processing is 720m. It should be noted that the fusion processing method is only an example, and other calculation methods may also be used to obtain the fused data, which is not limited in this embodiment.

S404: The smart car determines a safe speed corresponding to the curvature radius information according to the preset correspondence between the curvature radius and the speed. For S404 in this embodiment, reference may be made to S202 in the embodiment shown in FIG. 2, and details are not described herein again.

S405: The smart car adjusts the driving state and/or outputs first prompt information according to the safe speed. For S405 in this embodiment, reference may be made to S304 in the embodiment shown in FIG. 3, which will not be repeated here.

The embodiment of the application provides a method for determining a safe speed. The smart car can obtain road detection information, determine the radius of curvature information of the road, and determine the corresponding relationship between the radius of curvature and the speed according to the preset corresponding relationship between the radius of curvature and the speed. Safe speed. It is also possible to adjust the driving state and/or output prompt information according to the safe speed. By adopting this method, the safe speed of a moving object when driving in a curve can be determined, and the driving state can be adjusted and/or prompt information can be output according to the safe speed, which can improve the safety of the moving object when traveling in a curve.

The related devices and systems of the embodiments of the present application will be described in detail below with reference to FIGS.

An embodiment of the present application provides a schematic structural diagram of an apparatus for determining a safe speed. As shown in FIG. 7, the apparatus 700 for determining a safe speed may be used to implement the method for determining a safe speed proposed in the embodiment of the present application. The device 700 for determining the safe speed may include:

The processing unit 701 is configured to determine the curvature radius information of the road where it is located;

The processing unit 701 is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between a radius of curvature and a speed, where the safe speed is a speed for driving on the road with the lowest safety index;

The transceiver unit 702 is configured to output the safe speed.

In an implementation manner, the curvature radius information is determined according to road detection information, and the road detection information includes at least one of the following:

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In an implementation manner, the curvature radius information is obtained by fusion processing of at least two kinds of road detection information.

In an implementation manner, in the fusion process, the boundary information of the road and/or the lane line information of the road is the first weight, and the driving trajectory information of the moving object ahead and/or the The driving trajectory information of the side moving object is a second weight, and the first weight is higher than the second weight.

In an implementation manner, the processing unit 701 is further configured to:

Determine the curve equation according to the road detection information;

The curvature radius information is determined according to the curve equation.

In an implementation manner, the corresponding relationship is determined according to the relationship between the speed and the minimum radius of the circular curve in the highway design specification.

In an implementation manner, the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.

In an implementation manner, the transceiver unit 702 is further configured to receive the curvature radius information.

In an implementation manner, the transceiver unit 702 is further configured to output first prompt information, and the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.

In an implementation manner, the transceiving unit 702 is further configured to output second prompt information, and the second prompt information is used to prompt to release the restriction on the safe speed.

In an implementation manner, the device for determining a safe speed further includes a control unit 703; the control unit 703 is configured to adjust the driving state according to the safe speed.

In an implementation manner, the processing unit 701 is further configured to determine that the current driving road is a straight road;

The control unit 703 is further configured to adjust the driving state according to the historical driving speed, where the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed.

In an implementation manner, the road detection information may be obtained by a sensor, and the sensor includes one or more of millimeter wave radar, laser radar, ultrasonic radar, and vision sensor.

It should be noted that the content not mentioned in the embodiment corresponding to FIG. 7 and the specific implementation manners of the execution steps of each module can be referred to the embodiments shown in FIGS. 2 to 4 and the foregoing content, which will not be repeated here.

In an implementation manner, the related functions implemented by each unit in FIG. 7 can be implemented in combination with a processor and a communication interface. Referring to FIG. 8, FIG. 8 is a schematic structural diagram of another device for determining a safe speed provided by an embodiment of the present application. The device may be a moving object or a device with a function of determining a safe speed (such as a chip). The device 800 for determining the safe speed may include a communication interface 801, at least one processor 802, and a memory 803. Wherein, the communication interface 801, the processor 802, and the memory 803 may be connected to each other through one or more communication buses, or may be connected in other ways.

Wherein, the communication interface 801 can be used to send data and/or signaling, and receive data and/or signaling. It can be understood that the communication interface 801 is a general term and may include one or more interfaces. For example, it includes the interface between the device for determining the safe speed and other equipment.

The processor 802 may be configured to process data and/or signaling sent by the communication interface 801, or process data and/or signaling received by the communication interface 801. For example, the processor 802 may call the program code stored in the memory 803, and implement the communication process through the communication interface 801. The processor 802 may include one or more processors. For example, the processor 802 may be one or more central processing units (CPUs), network processors (NPs), hardware chips, or any combination thereof . In the case where the processor 802 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

Among them, the memory 803 is used to store program codes and the like. The memory 803 may include a volatile memory (volatile memory), such as a random access memory (random access memory, RAM); the memory 803 may also include a non-volatile memory (non-volatile memory), such as a read-only memory (read-only memory). Only memory (ROM), flash memory (flash memory), hard disk drive (HDD), or solid-state drive (SSD); the memory 803 may also include a combination of the foregoing types of memories.

For the communication interface 801, the processor 802 may be used to implement the method for determining the safe speed in the embodiments shown in FIG. 2 to FIG. 4, where the processor 802 calls the code in the memory 803, and specifically executes the following steps:

Determine the curvature radius information of the road;

Determine the safe speed corresponding to the curvature radius information according to the preset correspondence between the radius of curvature and the speed, where the safe speed is the speed at which the road is driven with the lowest safety index.

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In an implementation manner, the processor 802 calls the code in the memory 803, and may also perform the following steps:

Determine the curve equation according to the road detection information;

The curvature radius information is determined according to the curve equation.

The radius of curvature information is received through the communication interface 801.

The first prompt information is output through the communication interface 801, and the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.

The second prompt information is output through the communication interface 801, and the second prompt information is used to prompt the lifting of the safety speed limit.

The driving state is adjusted according to the safe speed.

Make sure that the current driving road is a straight road;

An embodiment of the present application provides a sensor control system. As shown in FIG. 9, the sensor control system 900 can be used to implement the safe speed determination method proposed in the foregoing embodiment. The sensor control system 900 may include: a processing device 901, a control device 902 and a sensor 903; among them,

The sensor 903 is used to obtain road detection information;

The processing device 901 is configured to determine the radius of curvature information of the road where it is located, where the radius of curvature information is determined according to road detection information;

The processing device 901 is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between a radius of curvature and a speed, where the safe speed is a speed for driving on the road with the lowest safety index;

The control device 902 is used to adjust the driving state according to the safe speed.

In an implementation manner, the road detection information includes at least one of the following:

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.

In an implementation manner, the processing device 901 is further configured to:

Determine the curve equation according to the road detection information;

The curvature radius information is determined according to the curve equation.

In an implementation manner, the sensor control system further includes a transceiving device 904; the transceiving device 904 is configured to receive the curvature radius information.

In an implementation manner, the transceiver device 904 is further configured to output first prompt information, and the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.

In an implementation manner, the transceiving device 904 is further configured to output second prompt information, and the second prompt information is used to prompt to release the restriction on the safe speed.

In an implementation manner, the processing device 901 is further configured to determine that the current driving road is a straight road;

The control device 902 is further configured to adjust the driving state according to the historical driving speed, where the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed.

In an implementation manner, the sensor includes one or more of millimeter wave radar, laser radar, ultrasonic radar, and vision sensor.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium includes a program or instruction, when the program or instruction runs on a computer, the computer executes the determination of the safe speed in the above method embodiment method.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website, computer, server or data center via wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a high-density digital video disc (Digital Video Disc, DVD)), or a semiconductor medium (for example, a solid state disk (Solid State Disk, SSD)) etc.

A person of ordinary skill in the art may be aware that the units and algorithm steps of the examples described in the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both, in order to clearly illustrate the hardware and software Interchangeability, in the above description, the composition and steps of each example have been generally described in accordance with the function. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A method for determining a safe speed, which is characterized in that it includes:

Determine the curvature radius information of the road;

Determine the safe speed corresponding to the curvature radius information according to the preset correspondence between the radius of curvature and the speed, where the safe speed is the speed at which the road is driven with the lowest safety index.
The method according to claim 1, wherein the curvature radius information is determined according to road detection information, and the road detection information includes at least one of the following:

Boundary information of the road;

Lane line information of the road;

The driving trajectory information of the moving object ahead;

The driving trajectory information of the side moving object.
The method according to claim 2, wherein the curvature radius information is obtained by fusion processing of at least two kinds of road detection information.
The method according to claim 3, wherein in the fusion process, the boundary information of the road and/or the lane line information of the road is the first weight, and the driving trajectory of the moving object ahead The information and/or the driving trajectory information of the side moving object is a second weight, and the first weight is higher than the second weight.
The method according to any one of claims 2 to 4, wherein the determining the curvature radius information of the road on which it is located comprises:

Determine the curve equation according to the road detection information;

The curvature radius information is determined according to the curve equation.
The method according to claim 1, wherein the corresponding relationship is determined according to the relationship between the speed and the minimum radius of the circular curve in the highway design specification.
The method according to claim 1, wherein the radius of curvature indicated by the radius of curvature information and the safe speed satisfy a preset functional relationship.
The method according to claim 1, wherein the method further comprises:

The driving state is adjusted according to the safe speed and/or first prompt information is output, where the first prompt information is used to prompt that the current driving speed has exceeded the safe speed.
The method according to claim 8, wherein after adjusting the driving state according to the safe speed, the method further comprises:

Make sure that the current driving road is a straight road;

The driving state is adjusted according to the historical driving speed and/or the second prompt information is output, the historical driving speed is the driving speed before the driving state is adjusted according to the safe speed, and the second prompt information is used to prompt the release of the safe speed limited.
The method according to claim 2, wherein the road detection information can be obtained by sensors, and the sensors include one or more of millimeter wave radar, laser radar, ultrasonic radar, and vision sensors.
A device for determining a safe speed, characterized in that it comprises:

Processing unit, used to determine the curvature radius information of the road;

The processing unit is further configured to determine a safe speed corresponding to the curvature radius information according to a preset correspondence between a radius of curvature and a speed, where the safe speed is a speed for driving on the road with the lowest safety index;

The transceiver unit is used to output the safe speed.
A device for determining a safe speed, characterized in that it comprises a processor, which is coupled with a communication interface so that

The processor is configured to read instructions to execute the method according to any one of claims 1 to 10.
A sensor control system, characterized by comprising: a processing device, a control device and a sensor, wherein the processing device is used to execute the method according to any one of claims 1 to 7, and the control device is used For performing the method as claimed in claims 8 and 9, the sensor includes the sensor as claimed in claim 10.
A chip, characterized in that it includes a processor and an interface;

The processor is configured to read instructions to execute the method according to any one of claims 1 to 10.
A computer-readable storage medium, characterized by comprising a program or instruction, when the program or instruction runs on a computer, the method according to any one of claims 1 to 10 is executed.