CN115027466A - Vehicle speed limit control method and system and vehicle - Google Patents

Abstract

The application provides a vehicle speed limit control method, a vehicle speed limit control system and a vehicle, and belongs to the technical field of automobiles. According to the method and the device, under the condition that the automatic cruise system is in the starting state, the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed of the speed limit position and the current vehicle speed of the vehicle are obtained, under the condition that the first target distance is smaller than or equal to the first preset distance and the current vehicle speed is larger than or equal to the speed limit vehicle speed, the first target deceleration of the vehicle is obtained through calculation according to the first target distance, the speed limit vehicle speed and the current vehicle speed, the vehicle is controlled to run at a reduced speed according to the first target deceleration, therefore, the vehicle can be subjected to active speed limit according to the speed limit condition of a road, the condition of overspeed running is prevented, and safety risks caused by overspeed running are actively reduced.

Description

A vehicle speed limit control method, system and vehicle

technical field

The present application relates to the technical field of vehicles, and in particular, to a vehicle speed limit control method, system and vehicle.

Background technique

In order to ensure driving safety, the city or highway has set a maximum speed. At present, drivers generally use mobile phone navigation to remind the speed limit. When the vehicle is driving on the speed limit section, the driver is repeatedly reminded to actively reduce the speed, which affects the driving comfort.

Although some high-end models are equipped with a speed limit reminder or a cruise configuration with a speed limit function, they can identify the speed limit road section based on the on-board map or identify the speed limit sign information through the on-board camera to remind the driver or actively limit the speed, but due to the sensor The limit of detection performance is usually only reminded of the speed limit near the position of the speed limit sign. After passing the speed limit sign, the speed limit reminder is cancelled, and there is a safety risk that the driver actively accelerates and leads to speeding violations or even traffic accidents.

SUMMARY OF THE INVENTION

The present application provides a vehicle speed limit control method, system and vehicle, so that the vehicle can be actively speed limited according to the speed limit situation of the road, so as to prevent the situation of speeding and reduce the safety risk caused by the speeding.

In order to solve the above problems, the application adopts the following technical solutions:

In a first aspect, an embodiment of the present application provides a vehicle speed limit control method, the method comprising:

When the automatic cruise system is in an on state, obtain the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position, and the current vehicle speed of the vehicle;

In the case that the first target distance is less than or equal to the first preset distance, when the current vehicle speed is greater than or equal to the speed limit vehicle speed, according to the first target distance, the speed limit vehicle speed and the Calculate the current vehicle speed, and obtain the first target deceleration of the vehicle;

According to the first target deceleration, the vehicle is controlled to decelerate and travel.

In an embodiment of the present application, the method further includes:

When the automatic cruise system is in a closed state, obtain a second target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position, and the current vehicle speed of the vehicle;

When the second target distance is less than or equal to the second preset distance and greater than the third preset distance, the driver is reminded to brake; wherein the second preset distance is greater than the first preset distance, the third preset distance is smaller than the first preset distance;

When the second target distance is less than or equal to the third preset distance and the driver's deceleration signal is not received, according to the second target distance, the speed limit vehicle speed and the current vehicle speed, calculate a second target deceleration of the vehicle;

According to the second target deceleration, the vehicle is controlled to decelerate and travel.

In an embodiment of the present application, the method further includes:

judging whether the vehicle is in a special working condition; the special working condition includes the working condition of the vehicle running under special weather and/or the working condition of the vehicle running on a curve;

When the vehicle is in the special working condition, the first preset distance or the second preset distance is corrected to obtain a corrected distance.

In an embodiment of the present application, the step of correcting the first preset distance or the second preset distance includes:

According to the following formula, the first preset distance or the second preset distance is corrected to obtain the corrected distance;

d=d'*(1+w)*(1+x);

Wherein, d is a correction distance, d' is the first preset distance or the second preset distance; w is a weather correction coefficient; x is a curvature correction coefficient.

In an embodiment of the present application, in the process of controlling the vehicle to decelerate and drive, the method further includes:

When it is determined that there is an obstacle in front of the vehicle and it is necessary to drive into an adjacent lane, remind the driver to change lanes and release the deceleration control of the vehicle;

In the case where it is determined that the vehicle in the adjacent lane needs to drive into the lane where the vehicle is located, the vehicle information of the adjacent lane is obtained; wherein the vehicle information includes the current speed, acceleration of the vehicle in the adjacent lane, and the difference between the adjacent lane vehicle and the vehicle in the adjacent lane. the initial distance between said vehicles;

According to the current speed and acceleration of the vehicle in the adjacent lane, and the initial distance between the vehicle in the adjacent lane and the vehicle, predict the lane change time when the vehicle in the adjacent lane arrives at the lane line where the vehicle is located, and the relative lane change time. a first distance traveled by the vehicle in the adjacent lane within the lane change time;

determining a second distance that the vehicle travels within the lane changing time according to the lane changing time, the current speed of the vehicle, and the first target deceleration or the second target deceleration;

According to the first distance, the second distance and the initial distance between the vehicle and the vehicle in the adjacent lane, determining the distance between the vehicle and the vehicle in the adjacent lane after the lane change time relative distance;

When the relative distance is less than a preset relative distance, the first target deceleration or the second target deceleration is increased.

In an embodiment of the present application, the method further includes:

obtain the current acceleration of the vehicle;

When the difference between the current acceleration and the first target deceleration is greater than a preset maximum difference, control the current acceleration to decrease to the first target deceleration according to a preset deceleration rate of change speed; or

When the difference between the current acceleration and the second target deceleration is greater than a preset maximum difference, control the current acceleration to decrease to the second target deceleration according to a preset deceleration rate of change speed.

In the second aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle speed limit control system, the system comprising:

A control module, and a sensor module and a body electronic stability module respectively connected to the control module, wherein,

The sensor module is used to obtain the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed of the speed limit position and the current vehicle speed of the vehicle when the automatic cruise system is on The first target distance, the speed limit vehicle speed and the current vehicle speed are sent to the control module;

The control module is configured to receive the first target distance, the speed limit vehicle speed and the current vehicle speed, and when the first target distance is less than or equal to a first preset distance, when the current vehicle speed When it is greater than or equal to the speed limit vehicle speed, the first target deceleration of the vehicle is calculated according to the first target distance, the speed limit vehicle speed and the current vehicle speed, and according to the first target deceleration sending a first deceleration command to the body electronic stability module;

The body electronic stability module is configured to receive the first deceleration command, and control the vehicle to decelerate at a first target deceleration according to the first deceleration command.

In an embodiment of the present application, the system further includes:

A human-computer interaction module connected with the control module, wherein,

The sensor module is further configured to acquire the second target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position and the vehicle speed limit when the automatic cruise system is in a closed state. current speed;

The control module is further configured to send a first reminder instruction to the human-computer interaction module when the second target distance is less than or equal to the second preset distance and greater than the third preset distance; wherein the The second preset distance is greater than the first preset distance, and the third preset distance is less than the first preset distance; the control module is further configured to be used when the second target distance is less than or equal to the first preset distance In the case of three preset distances and when the driver's deceleration signal is not received, the second target deceleration of the vehicle is calculated according to the second target distance, the speed limit vehicle speed and the current vehicle speed, and according to The second target deceleration sends a second deceleration command to the body electronic stability module;

The human-computer interaction module is configured to receive the first reminder command, and according to the first reminder command, perform a brake warning to remind the driver to brake;

The body electronic stability module is further configured to receive the second deceleration command, and control the vehicle to decelerate at a second target deceleration according to the second deceleration command.

In an embodiment of the present application, the sensor module is further configured to acquire weather information and road information, and send the weather information and the road information to the controller;

The controller is further configured to receive the weather information and the road information, and determine whether the vehicle is in a special working condition according to the weather information and the road information; and when the vehicle is in the special working condition; Under the circumstance, the first preset distance or the second preset distance is corrected to obtain a corrected distance; wherein, the special operating conditions include operating conditions and/or operating conditions in which the vehicle is driven in special weather The working condition of the vehicle driving on a curve.

In a third aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle that includes the vehicle speed limit control system as proposed in the second aspect of the present application.

Compared with the prior art, the present application includes the following advantages:

This embodiment of the present application obtains the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position, and the current vehicle speed when the automatic cruise system is turned on, when the first target distance is less than or When it is equal to the first preset distance and the current vehicle speed is greater than or equal to the speed limit vehicle speed, the first target deceleration of the vehicle is calculated according to the first target distance, the speed limit vehicle speed and the current vehicle speed, and according to the first target deceleration, Control the vehicle to decelerate, so as to actively limit the speed of the vehicle according to the speed limit of the road, prevent the situation of speeding, and actively reduce the safety risk caused by speeding.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a flow chart of the steps of a vehicle speed limit control method in an embodiment of the present application;

2 is a schematic diagram of a connection relationship of a vehicle speed limit control system in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a vehicle in an embodiment of the present application.

Reference numerals: 200-vehicle speed limit control system; 201-control module; 202-sensor module; 203-body electronic stability module; 204-human-computer interaction module; 300-vehicle.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the automatic cruise system, also known as the adaptive cruise control (Adaptive Cruise Control, ACC) system, is an intelligent vehicle speed automatic control system developed based on the cruise control technology. During the driving process of the vehicle, the automatic cruise system automatically adjusts the throttle opening of the engine according to the change of the driving resistance of the vehicle, so that the vehicle can maintain a constant speed without the driver stepping on the accelerator pedal, which greatly reduces the labor intensity. However, the existing automatic cruise system cannot actively limit the speed of the vehicle on the speed-limited road section. Usually, it can only remind the speed limit near the position of the speed limit sign. After passing the speed limit sign, the speed limit reminder is cancelled. , there is a situation where the driver actively accelerates and leads to violation of regulations.

In view of the technical problems raised in the background technology of the present application, an embodiment of the present application proposes a vehicle speed limit control method, which aims to utilize the existing sensors of the vehicle and optimize the software without changing the hardware system of the vehicle. At the same time, according to the speed limit information of the road section, the corresponding speed control is carried out, which is suitable for a wide range of scenarios.

Referring to FIG. 1, a vehicle speed limit control method of the present application is shown, and the method may include the following steps:

S101: When the automatic cruise system is in an on state, obtain a first target distance between a vehicle and a speed limit position, a speed limit vehicle speed at the speed limit position, and a current vehicle speed of the vehicle.

In this embodiment, the first target distance between the vehicle and the speed limit position can be acquired through the sensor module 202, wherein the sensor module 202 can include a navigation device and/or a speed limit information identification device. Specifically, the navigation device may be a device external to the vehicle, such as a navigator, a mobile phone, etc., or a device integrated inside the car, such as a car navigation system, etc.; the speed limit information identification device may be, but not limited to, a camera or a radar probe, etc. The sensor obtains the speed limit information of the speed limit road section from the speed limit signs, speed bumps and other signs.

In this embodiment, the current speed of the vehicle can also be acquired through the sensor module 202 . The current vehicle speed of the vehicle may be acquired through a vehicle speed sensor in the sensor module 202 or a navigation device.

In one example, the sensor module 202 can identify the speed limit information of the speed limit road ahead of the vehicle, and feed back to the control module 201 the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position and the vehicle For example, when the sensor module 202 detects that there is a speed limit camera or a speed bump 300 meters ahead of the vehicle, the speed limit is 60km/h and the current vehicle speed is 70km/h, then the first target distance is 300 meters, and the speed limit is 300 meters. The vehicle speed is 60 km/h, the current vehicle speed is 70 km/h, and the vehicle is braked and decelerated until the first target distance is reduced to within the first preset distance.

S102: In the case that the first target distance is less than or equal to a first preset distance, when the current vehicle speed is greater than or equal to the speed limit vehicle speed, according to the first target distance, the speed limit vehicle speed and The current vehicle speed is calculated to obtain the first target deceleration of the vehicle.

In this embodiment, the first preset distance may be set to 200 meters, that is, when the vehicle travels to within 200 meters from the speed limit position, the vehicle starts to decelerate. It should be noted that the first preset distance increases as the current vehicle speed increases, so as to ensure that there is a sufficient braking distance for deceleration in the case of high-speed driving.

In this embodiment, if the control module 201 receives that the first target distance detected by the sensor module 202 has been reduced to 200 meters, the speed limit vehicle speed is 60km/h, and the current vehicle speed is 70km/h, the following According to the deceleration formula, the first target deceleration of the vehicle is -3.25m/s ² :

In the formula: a is the first target deceleration; v ₁ is the speed limit vehicle speed at the speed limit position; v ₀ is the current vehicle speed of the vehicle; d is the first target distance between the vehicle and the speed limit position.

S103: Control the vehicle to decelerate and travel according to the first target deceleration.

In this embodiment, the control module 201 calculates the corresponding braking force according to the obtained first target deceleration, and applies the corresponding braking force to the wheels through the body electronic stability module 203, thereby realizing the active deceleration of the vehicle.

This embodiment of the present application obtains the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position, and the current vehicle speed when the automatic cruise system is turned on, when the first target distance is less than or When it is equal to the first preset distance and the current vehicle speed is greater than or equal to the speed limit vehicle speed, the first target deceleration of the vehicle is calculated according to the first target distance, the speed limit vehicle speed and the current vehicle speed, and according to the first target deceleration, Control the vehicle to decelerate, so as to actively limit the speed of the vehicle according to the speed limit of the road, prevent the situation of speeding, and actively reduce the safety risk caused by speeding.

In a feasible implementation manner, the vehicle speed limit control method may further include the following steps:

S104: When the automatic cruise system is in an off state, obtain a second target distance between the vehicle and a speed limit position, a speed limit vehicle speed at the speed limit position, and a current vehicle speed of the vehicle.

S105: In the case that the second target distance is less than or equal to the second preset distance and greater than the third preset distance, remind the driver to brake; wherein the second preset distance is greater than the first preset distance distance, the third preset distance is smaller than the first preset distance.

Considering that when the existing automatic cruise system is in the off state, the driver cannot be reminded to decelerate accordingly. Therefore, in this embodiment, when the automatic cruise system is off and the second target distance is less than or equal to the first When the second preset distance is greater than the third preset distance, the driver will be reminded to brake.

In an example, when the first preset distance is set to 200 meters, the second preset distance can be set to 300 meters, and the third preset distance can be set to 150 meters. That is, when the vehicle travels within a range of 150 meters to 300 meters from the speed limit position, the control module 201 will control the human-computer interaction module 204 to perform a brake alarm to remind the driver to brake. To 4Hz progressive frequency output alarm tone.

S106: In the case that the second target distance is less than or equal to the third preset distance and no driver deceleration signal is received, according to the second target distance, the speed limit vehicle speed and the current vehicle speed, A second target deceleration of the vehicle is calculated.

In this embodiment, when the vehicle travels within a range of 150 meters to 300 meters from the speed limit position, it will detect in real time whether a driver deceleration signal is received, wherein the driver deceleration signal may be, but not limited to, a brake pedal triggered signal , the mechanical handbrake is triggered, the electronic handbrake is triggered, or the low-speed gear is triggered, etc. During this period, if the driver does not perform the corresponding deceleration operation, when the vehicle travels within 150 meters from the speed limit position, the control module 201 will automatically perform deceleration measures, and according to the second target distance, all The speed limit vehicle speed and the current vehicle speed are calculated to obtain the second target deceleration of the vehicle.

S107: Control the vehicle to decelerate and travel according to the second target deceleration.

In this embodiment, when the automatic cruise system is in the off state, by reminding the driver to brake in advance and increasing the reaction time of the driver to brake, the frequency of the vehicle actively braking and decelerating can be effectively reduced to avoid sudden Braking deceleration reduces the driver's driving experience; and when the driver fails to make a braking operation, active braking is performed to ensure a good driving experience while ensuring the driving safety of the vehicle and preventing the occurrence of speeding. Actively reduce the safety risks caused by speeding.

In a feasible implementation manner, the vehicle speed limit control method may further include the following steps:

S108: Determine whether the vehicle is in a special working condition; the special working condition includes a working condition in which the vehicle travels in special weather and/or a working condition in which the vehicle travels on a curve.

It should be noted that special weather refers to the weather that will cause the road to be slippery or affect the driver's operation, which may be but not limited to rainy, snowy, hail, and foggy weather.

In this embodiment, the information of special weather can be obtained in real time from the Internet by using the vehicle networking module in the sensor module 202 through networking.

S109: When the vehicle is in the special working condition, correct the first preset distance or the second preset distance to obtain a corrected distance.

In this embodiment, the first preset distance or the second preset distance can be corrected according to the following formula to obtain the corrected distance;

d=d'*(1+w)*(1+x);

Wherein, d is a correction distance, d' is the first preset distance or the second preset distance; w is a weather correction coefficient; x is a curvature correction coefficient.

In this embodiment, not only the impact of special weather on the vehicle and the driver should be taken into account, for example, in rainy and snowy days, the road may be slippery, which may increase the braking distance of the vehicle, and in foggy days, the driver's driving vision and reaction time may be affected; Also consider the effect of corners on braking distance. Therefore, under special operating conditions, the first preset distance or the second preset distance is corrected to obtain a corrected distance with a longer distance, thereby providing a longer braking distance for the vehicle and providing the driver with a longer braking distance. More sufficient reaction time and operating space to further improve driving safety.

It should be noted that w and x are both coefficients greater than zero, and the magnitude of the coefficient is positively correlated with the severity of the weather and the curvature of the curve, such as light rain, moderate rain, heavy rain, and heavy rain, respectively, corresponding to increasing weather corrections. coefficient. This embodiment does not specifically limit the values of w and x, which can be set according to actual conditions.

In a feasible implementation manner, in the process of controlling the vehicle to slow down in S103 or S107, the method may further include the following steps:

SA-1: When it is determined that there is an obstacle in front of the vehicle and it is necessary to drive into an adjacent lane, the driver is reminded to change lanes, and the deceleration control of the vehicle is released.

In this embodiment, the sensor module 202 can be used to detect whether there is an obstacle in front of the vehicle. Considering that when it is determined that there is an obstacle in front of the vehicle and needs to drive into an adjacent lane, the driver may accelerate overtaking or brake suddenly In deceleration and other situations, in order to ensure the safety of the driver, the human-computer interaction module 204 will remind the driver to change lanes and release the deceleration control of the vehicle, so that the driver can perform corresponding operations according to the actual situation.

SA-2: When it is determined that a vehicle in an adjacent lane needs to drive into the lane where the vehicle is located, obtain the vehicle information of the adjacent lane; wherein the vehicle information includes the current speed, acceleration, relative The initial distance between the vehicle in the adjacent lane and the vehicle.

In this embodiment, it can be determined whether the vehicle in the adjacent lane has an intention to enter the lane where the vehicle is located by detecting whether there is an obstacle in front of the vehicle in the adjacent lane, or whether the turn signal of the vehicle in the adjacent lane is turned on. . However, when it is determined that the vehicle in the adjacent lane needs to enter the lane where the vehicle is located, it is necessary to further determine the timing when the vehicle in the adjacent lane cuts into its own lane, and perform a deceleration operation to avoid collision.

SA-3: According to the current speed and acceleration of the vehicle in the adjacent lane, and the initial distance between the vehicle in the adjacent lane and the vehicle, predict the lane change time when the vehicle in the adjacent lane reaches the lane line where the vehicle is located, and a first distance traveled by the adjacent lane vehicle within the lane change time.

Specifically, the lateral speed and longitudinal speed in the current vehicle speed of the vehicle in the adjacent lane, the lateral acceleration and longitudinal acceleration in the acceleration, and the lateral distance between the lane line where the vehicle is located and the vehicle in the adjacent lane can be obtained through the sensor module 202 respectively. and the longitudinal distance, and then calculate the lane change time for the vehicle in the adjacent lane to reach the lane line where the vehicle is located, and the first distance that the vehicle in the adjacent lane moves forward within the lane change time.

SA-4: According to the lane change time, the current speed of the vehicle, and the first target deceleration or the second target deceleration, determine the second distance that the vehicle travels within the lane change time .

SA-5: According to the first distance, the second distance and the initial distance between the vehicle and the vehicle in the adjacent lane, determine the vehicle and the adjacent lane after the lane change time Relative distance between vehicles.

SA-6: When the relative distance is less than a preset relative distance, increase the first target deceleration or the second target deceleration.

In this embodiment, the preset relative distance may be set to 10 meters. In one example, if the vehicle travels at the time of changing lanes according to the first target deceleration or the second target deceleration, it is determined that the vehicle is in the adjacent lane. If the relative distance between vehicles is 5 meters, which is less than 10 meters of the preset relative distance, then increase the first target deceleration or the second target deceleration, increase the braking force of the vehicle, and avoid the distance from the vehicle in the adjacent lane If the relative distance is predicted to be greater than 10 meters, the vehicle will continue to decelerate according to the current first target deceleration or the second target deceleration.

In a feasible embodiment, the method may further include the following steps:

S110: Obtain the current acceleration of the vehicle;

S111: When the difference between the current acceleration and the first target deceleration is greater than a preset maximum difference, control the current acceleration to decrease to the first value according to a preset deceleration rate of change target deceleration; or, when the difference between the current acceleration and the second target deceleration is greater than a preset maximum difference, control the current acceleration to decrease to the second target deceleration.

In this embodiment, it is considered that at the moment of braking and deceleration, if the value of the first target deceleration or the second target deceleration is too large, especially in the case of acceleration originally, it will cause significant damage at the moment of deceleration. Therefore, in this embodiment, by obtaining the current acceleration of the vehicle, and comparing the current acceleration with the first target deceleration or the second target deceleration When the difference between the two is greater than the preset maximum difference, the braking will not be carried out directly according to the first target deceleration or the second target deceleration, but will be controlled according to the preset deceleration rate of change to smooth the current acceleration. Decrease to the first target deceleration or the second target deceleration.

As one of the preferred solutions, the preset deceleration rate of change decreases with the increase of the current vehicle speed. For example, when the current vehicle speed is greater than or equal to 20m/s, it can be changed according to the maximum deceleration rate of -3.5m/s ² The speed is reduced to the first target deceleration or the second target deceleration; for example, when the current vehicle speed is less than 5m/s, the deceleration can be decelerated according to the maximum deceleration rate of -5m/s ² . It should be noted that this embodiment does not specifically limit the preset deceleration rate of change, and may be set according to actual usage scenarios. It should be further explained that, considering that the deceleration distance will increase if the deceleration is not performed according to the first target deceleration or the second target deceleration for the first time, therefore, in order to avoid the vehicle reaching the speed limit section from being in an overspeed state, the vehicle is decelerated when the vehicle is decelerating. After the speed is reduced to the first target deceleration or the second target deceleration, the corresponding deceleration compensation will be performed, that is, the braking force of the vehicle will be further increased on the basis of the first target deceleration or the second target deceleration, and then resume after the compensation is completed. to the first target deceleration or the second target deceleration, so as to ensure that the vehicle reaches the speed limit section and the vehicle speed is lower than the speed limit vehicle speed.

In this embodiment, by setting the preset maximum difference value, it is possible to effectively prevent the vehicle from stumbling, achieve smooth deceleration, and provide the driver with a good driving experience.

Based on the same inventive concept, referring to FIG. 2 , a vehicle speed limit control system 200 provided by an embodiment of the present application is shown. The vehicle speed limit control system 200 includes:

A control module 201, and a sensor module 202 and a body electronic stability module 203 respectively connected to the control module 201, wherein,

The sensor module 202 is configured to obtain the first target distance between the vehicle and the speed limit position, the speed limit vehicle speed of the speed limit position and the current vehicle speed of the vehicle when the automatic cruise system is turned on, and sending the first target distance, the speed limit vehicle speed and the current vehicle speed to the control module 201;

The control module 201 is configured to receive the first target distance, the speed limit vehicle speed and the current vehicle speed, and when the first target distance is less than or equal to a first preset distance, when the current When the vehicle speed is greater than or equal to the speed limit vehicle speed, the first target deceleration of the vehicle is calculated according to the first target distance, the speed limit vehicle speed and the current vehicle speed, and the vehicle is decelerated according to the first target speed. The speed sends a first deceleration command to the body electronic stability module 203;

The body electronic stability module 203 is configured to receive the first deceleration command, and control the vehicle to decelerate at a first target deceleration according to the first deceleration command.

In a feasible embodiment, the vehicle speed limit control system 200 further includes:

The human-computer interaction module 204 connected with the control module 201, wherein,

The sensor module 202 is further configured to acquire the second target distance between the vehicle and the speed limit position, the speed limit vehicle speed at the speed limit position and the vehicle when the automatic cruise system is in a closed state. the current speed of the vehicle;

The control module 201 is further configured to send a first reminder instruction to the human-computer interaction module 204 when the second target distance is less than or equal to the second preset distance and greater than the third preset distance; wherein, The second preset distance is greater than the first preset distance, and the third preset distance is less than the first preset distance; the control module 201 is further configured to be less than or equal to the second target distance In the case of the third preset distance and the driver's deceleration signal is not received, the second target deceleration of the vehicle is calculated according to the second target distance, the speed limit vehicle speed and the current vehicle speed , and send a second deceleration command to the body electronic stability module 203 according to the second target deceleration;

The human-computer interaction module 204 is configured to receive the first reminder command, and according to the first reminder command, perform a brake warning to remind the driver to brake;

The body electronic stability module 203 is further configured to receive the second deceleration command, and control the vehicle to decelerate at a second target deceleration according to the second deceleration command.

In a feasible implementation manner, the sensor module 202 is further configured to acquire weather information and road information, and send the weather information and the road information to the controller;

The controller is further configured to receive the weather information and the road information, and determine whether the vehicle is in a special working condition according to the weather information and the road information; and when the vehicle is in the special working condition; Under the circumstance, the first preset distance or the second preset distance is corrected to obtain a corrected distance; wherein, the special operating conditions include operating conditions and/or operating conditions in which the vehicle is driven in special weather The working condition of the vehicle driving on a curve.

It should be noted that, for the specific implementation of the vehicle speed limit control system 200 of the embodiment of the present application, reference may be made to the specific implementation of the vehicle speed limit control method of the embodiment of the present application, which will not be repeated here.

Based on the same inventive concept, referring to FIG. 3 , a vehicle 300 provided by an embodiment of the present application is shown. The vehicle 300 includes the vehicle speed limit control system 200 as proposed in the second aspect of the embodiment of the present application.

It should be noted that, for the specific implementation of the vehicle 300 in the embodiment of the present application, reference may be made to the specific implementation of the vehicle speed limit control method in the foregoing embodiment of the present application, which will not be repeated here.

It should be understood by those skilled in the art that the embodiments of the embodiments of the present invention may be provided as a method, an apparatus, or a computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in a flow or flows of the flowcharts and/or a block or blocks of the block diagrams.

These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flows of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby executing on the computer or other programmable terminal equipment The instructions executed on the above provide steps for implementing the functions specified in the flowchart or blocks and/or the block or blocks of the block diagrams.

Although preferred embodiments of the embodiments of the present invention have been described, additional changes and modifications to these embodiments may be made by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include the preferred embodiment as well as all changes and modifications that fall within the scope of the embodiments of the present invention.

Finally, it should also be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply these entities or that there is any such actual relationship or sequence between operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or terminal device comprising a list of elements includes not only those elements, but also a non-exclusive list of elements. other elements, or also include elements inherent to such a process, method, article or terminal equipment. Without further limitation, an element defined by the phrase "comprises a..." does not preclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

A vehicle speed limit control method, system and vehicle provided by the present invention have been introduced in detail above. Specific examples are used in this paper to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help Understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification does not It should be understood as a limitation of the present invention.

Claims (10)

1. A vehicle speed limit control method, characterized in that the method comprises:

under the condition that an automatic cruise system is in an open state, acquiring a first target distance between a vehicle and a speed-limiting position, a speed-limiting speed of the speed-limiting position and the current speed of the vehicle;

under the condition that the first target distance is smaller than or equal to a first preset distance, when the current vehicle speed is larger than or equal to the speed limit vehicle speed, calculating to obtain a first target deceleration of the vehicle according to the first target distance, the speed limit vehicle speed and the current vehicle speed;

and controlling the vehicle to run at a reduced speed according to the first target deceleration.

2. The method of claim 1, further comprising:

under the condition that the automatic cruise system is in a closed state, acquiring a second target distance between the vehicle and a speed-limiting position, the speed-limiting speed of the speed-limiting position and the current speed of the vehicle;

reminding the driver to brake under the condition that the second target distance is smaller than or equal to a second preset distance and larger than a third preset distance; the second preset distance is greater than the first preset distance, and the third preset distance is smaller than the first preset distance;

under the condition that the second target distance is smaller than or equal to the third preset distance and no deceleration signal of the driver is received, calculating to obtain a second target deceleration of the vehicle according to the second target distance, the speed limit vehicle speed and the current vehicle speed;

and controlling the vehicle to run at a reduced speed according to the second target deceleration.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

judging whether the vehicle is in a special working condition or not; the special working condition comprises a working condition that the vehicle runs under special weather and/or a working condition that the vehicle runs on a curve;

and under the condition that the vehicle is in the special working condition, correcting the first preset distance or the second preset distance to obtain a corrected distance.

4. The method of claim 3, wherein the step of correcting the first predetermined distance or the second predetermined distance comprises:

correcting the first preset distance or the second preset distance according to the following formula to obtain a corrected distance;

d＝d'*(1+w)*(1+x)；

wherein d is a corrected distance, and d' is the first preset distance or the second preset distance; w is a weather correction coefficient; x is a curvature correction coefficient.

5. The method according to any one of claims 1 or 2, characterized in that, in controlling the vehicle to run with deceleration, the method further comprises:

when it is determined that an obstacle exists in front of the vehicle and the vehicle needs to enter an adjacent lane, reminding a driver of changing lanes and releasing deceleration control on the vehicle;

under the condition that it is determined that a vehicle in an adjacent lane needs to drive into a lane where the vehicle is located, vehicle information of the adjacent lane is obtained; the vehicle information comprises the current speed, the acceleration and the initial distance between the adjacent lane vehicle and the vehicle;

predicting lane changing time of the adjacent lane vehicle to reach a lane line where the vehicle is located and a first distance of the adjacent lane vehicle advancing within the lane changing time according to the current speed and the acceleration of the adjacent lane vehicle and the initial distance between the adjacent lane vehicle and the vehicle;

determining a second distance that the vehicle advances within the lane-changing time according to the lane-changing time, the current vehicle speed of the vehicle and the first target deceleration or the second target deceleration;

determining a relative distance between the vehicle and the adjacent lane vehicle after the lane change time according to the first distance, the second distance and an initial distance between the vehicle and the adjacent lane vehicle;

increasing the first target deceleration or the second target deceleration in a case where the relative distance is smaller than a preset relative distance.

6. The method according to claim 1 or 2, characterized in that the method further comprises:

acquiring the current acceleration of the vehicle;

under the condition that the difference value between the current acceleration and the first target deceleration is larger than a preset maximum difference value, controlling the current acceleration to be reduced to the first target deceleration according to a preset deceleration change rate; or

And under the condition that the difference value between the current acceleration and the second target deceleration is larger than a preset maximum difference value, controlling the current acceleration to be reduced to the second target deceleration according to a preset deceleration change rate.

7. A vehicle speed limit control system, the system comprising:

a control module, and a sensor module and a vehicle body electronic stabilization module which are respectively connected with the control module,

the sensor module is used for acquiring a first target distance between a vehicle and a speed-limiting position, the speed-limiting speed of the speed-limiting position and the current speed of the vehicle under the condition that an automatic cruise system is in an on state, and sending the first target distance, the speed-limiting speed and the current speed to the control module;

the control module is used for receiving the first target distance, the speed limit vehicle speed and the current vehicle speed, calculating to obtain a first target deceleration of the vehicle according to the first target distance, the speed limit vehicle speed and the current vehicle speed when the current vehicle speed is greater than or equal to the speed limit vehicle speed under the condition that the first target distance is less than or equal to a first preset distance, and sending a first deceleration instruction to the vehicle body electronic stabilization module according to the first target deceleration;

the vehicle body electronic stabilization module is used for receiving the first deceleration instruction and controlling the vehicle to run at a first target deceleration speed according to the first deceleration instruction.

8. The system of claim 7, further comprising:

a human-computer interaction module connected with the control module, wherein,

the sensor module is also used for acquiring a second target distance between the vehicle and a speed limit position, the speed limit vehicle speed of the speed limit position and the current vehicle speed of the vehicle under the condition that the automatic cruise system is in a closed state;

the control module is further used for sending a first reminding instruction to the man-machine interaction module under the condition that the second target distance is smaller than or equal to a second preset distance and larger than a third preset distance; the second preset distance is greater than the first preset distance, and the third preset distance is smaller than the first preset distance; the control module is further used for calculating a second target deceleration of the vehicle according to the second target distance, the speed-limiting vehicle speed and the current vehicle speed under the condition that the second target distance is smaller than or equal to the third preset distance and when a driver deceleration signal is not received, and sending a second deceleration instruction to the vehicle body electronic stabilization module according to the second target deceleration;

the man-machine interaction module is used for receiving the first reminding instruction and carrying out brake warning according to the first reminding instruction so as to remind a driver of braking;

the vehicle body electronic stabilization module is further used for receiving the second deceleration instruction and controlling the vehicle to run at a second target deceleration speed in a deceleration mode according to the second deceleration instruction.

9. The system of claim 7 or 8,

the sensor module is also used for acquiring weather information and road information and sending the weather information and the road information to the controller;

the controller is also used for receiving the weather information and the road information and judging whether the vehicle is in a special working condition or not according to the weather information and the road information; under the condition that the vehicle is in the special working condition, correcting the first preset distance or the second preset distance to obtain a corrected distance; the special working condition comprises a working condition that the vehicle runs under special weather and/or a working condition that the vehicle runs on a curve.

10. A vehicle characterized by comprising the vehicle speed limit control system according to any one of claims 7 to 9.

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