CN118977710A - Intelligent speed limiting method and system for high-speed pilot assisted driving - Google Patents

Abstract

The invention provides an intelligent speed limiting method and system for high-speed pilot assisted driving, wherein the intelligent speed limiting method for the high-speed pilot assisted driving comprises the following steps: acquiring the type and the speed limit value of a vehicle running road based on the standard-definition map and the high-definition map; automatically adjusting the speed limit of the vehicle according to the road type and the driving scene; the road type and the driving scene comprise: the method comprises the following steps of performing intelligent speed regulation according to a high-precision map, a standard-precision map and different road types under different scenes through a high-speed pilot auxiliary driving function, wherein the speed limit scene of a main road, the speed limit scene of a main road entering ramp, the speed limit scene of a ramp entering main road, the speed limit scene of a speed limit value abnormality, the speed limit scene of a speed limit value not received, the speed limit scene of a tunnel and the specific speed limit scene.

Description

Intelligent speed limiting method and system for high-speed pilot assisted driving

Technical Field

The invention relates to the field of automatic driving vehicles, in particular to an intelligent speed limiting method and system for a high-speed pilot auxiliary driving function.

Background

The vehicle with the high-speed pilot auxiliary driving function at the present stage can set or add and subtract the cruising speed through a self-adaptive cruising speed switch on a standard fine navigation map or a steering wheel. Specifically, under the high-speed pilot auxiliary driving state, the intelligent driving domain control controller increases the cruising speed by acquiring the road speed limit value of the standard precise map or pressing a "+" cruising speed increasing hard switch by a driver, and decreases the cruising speed by pressing a "-" cruising speed decreasing hard switch. The method does not consider customer experience in actual scenes, such as a vehicle entering a main road, a main road entrance ramp, a ramp entrance main road and a specific scene, if the vehicle is still in road speed limit or adopts a driver regulation strategy, the driver is panicked in high-speed driving, and even rear-end collision safety risks exist.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an intelligent speed limiting method and system for high-speed pilot assisted driving, which are used for intelligently adjusting the speed of a vehicle according to a high-precision map, a standard-definition map and different road types under different scenes by a high-speed pilot assisted driving function.

In order to achieve the above object, the present invention provides the following technical solutions:

An intelligent speed limiting method for high speed pilot assisted driving, the method comprising:

S1, acquiring the type and the speed limit value of a vehicle running road based on a standard-definition map and a high-definition map;

s2, automatically adjusting the speed limit of the vehicle according to the road type and the driving scene;

The road type and the driving scene comprise:

S21, speed limiting scenes of a high-speed main road: if the same speed limit value is adopted in front, the continuous distance is smaller than 1.5km, and the lowest speed limit value is 80kph; if the same speed limit value is adopted in front, the continuous distance is more than or equal to 1.5km, and the lowest speed limit value is 60kph;

After determining the minimum speed limit value, if the speed limit of the standard deviation map is larger than the minimum speed limit value, adopting the standard deviation map to limit the speed; if the speed limit of the standard precise map is not greater than the minimum speed limit value and the speed limit of the high precise map is greater than the minimum speed limit value, adopting the high precise map to limit the speed; if the speed limit of the standard-precision map and the speed limit of the high-precision map are not greater than the minimum speed limit value, and the speed limit of the last frame after the speed arbitration is greater than the minimum speed limit value, adopting the speed limit of the last frame; if the standard-precision map speed limit, the high-precision map speed limit and the last frame speed limit are not greater than the minimum speed limit value, adopting a scene minimum speed limit value, wherein the expressway is 80kph, and the urban expressway is 60kph;

S22, a main road ramp speed limiting scene: if a deceleration lane is arranged in front, the vehicle is positioned in two lanes on the right side of the main road and the current driving lane is not directly connected to the ramp within the closest point of the opposite ramp, which is 100m before the point of the deceleration lane and the main road Spilt and is 300m away from the ramp opening, the speed limit of the vehicle is the minimum value between 60kph and the current cruising speed, and the point of the main road Spilt is the bifurcation point between the high-speed main road and the ramp; within 600m before the speed reduction lane and the main road Spilt, the vehicle is positioned on the two lanes on the right side of the main road, and the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed; within 1000m before the speed reduction lane and the main road Spilt, the vehicle is in any lane, and the speed limit of the vehicle is the minimum value between 1000kph and the current cruising speed;

If the front side has no deceleration lane, the vehicle is within 200m from the ramp opening and is positioned on the right side of the main road, the current driving lane is not directly connected to the ramp, the curvature passing speed of the front ramp is less than 80kph, and the vehicle speed limit is the minimum value between 60kph and the current cruising speed; the vehicle is within 700m from the ramp opening and is positioned on two lanes on the right side of the main road, and the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed; the vehicle is within 1000m from the ramp opening and is positioned in any lane, and the speed limit of the vehicle is the minimum value between 100kph and the current cruising speed;

When the vehicle is in a decelerating lane or an accelerating and decelerating composite lane of which the vehicle is used as the decelerating lane, if the speed limit value of the high-precision map of the decelerating lane is smaller than 80kph, the speed limit of the vehicle is the minimum value between 60kph and the current cruising speed; if the speed limit value of the high-precision map of the speed reduction lane is greater than or equal to 80kph, the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed;

S23, speed limiting scene in ramp: if the transverse passable speed of the curvature in the front 500m is greater than 80kph, the vehicle speed limit is the minimum value between 80kph and the current cruising speed; if the transverse passable speed of the front 200m inner curvature is less than 80kph, or a ramp needing to be changed is divided into two road conditions in the ramp, the vehicle speed limit is 60kph;

S24, a ramp entering main road speed limiting scene: in an acceleration lane or an acceleration-deceleration composite lane in which the vehicle is used as an acceleration lane, the vehicle speed limit is a maximum between 80kph and the current cruising vehicle speed;

s25, speed limit value abnormal speed limit scene: if the vehicle is in the main road, the speed limit of the vehicle is 80kph; if the vehicle is in a ramp access main road condition and the main road speed limit is less than 80kph, changing the road to the main road speed limit is 100kph;

S26, a speed limit scene without receiving a speed limit value: according to the road type where the vehicle runs and the high-speed scene, the speed limit of the vehicle is adjusted;

s27, tunnel speed limiting scene: if the tunnel speed limit value exists, before the vehicle is 200m away from the tunnel portal, the speed limit is the minimum value among the tunnel speed, the current cruising speed and the current point main road speed limit; before the vehicle is 400m away from the tunnel portal, the speed limit is the minimum value between the tunnel speed plus 20kph, the current cruising speed and the current point main road speed limit; before the vehicle is 600m away from the tunnel portal, the speed limit is the minimum value among the tunnel speed +40kph, the current cruising speed and the current point main road speed limit;

If the tunnel speed limit value is not available, before the vehicle is 200m away from the tunnel portal, the speed limit is 80kph, and the minimum value between the current cruising speed and the current point main road speed limit is set; before the vehicle is 400m away from the tunnel portal, the speed limit is 100kph, and the minimum value between the current cruising speed and the current point main road speed limit is set; before the vehicle is 600m away from the tunnel portal, limiting the speed by 120kph, and limiting the minimum value between the current cruising speed and the current point main road;

s28, specific speed limit scenes: when a vehicle enters a toll station or an inspection station, the vehicle starts to decelerate 600m away from an entrance, limits the speed to 80kph, limits the speed to 60kph 400m away from the entrance, exits the pilot assistance function 200m away from the entrance, degrades the automatic driving mode to L2, and degrades the automatic driving mode to the self-adaptive cruise control if the road section has no lane line;

when a vehicle enters a service area or a gas station, the vehicle starts to decelerate 400m away from an entrance, limits the speed to 80kph, limits the speed to 60kph 200m away from the entrance, exits the pilot assistance function when reaching the entrance, degrades the automatic driving mode to L2, and degrades the automatic driving mode to the self-adaptive cruise control if the road section has no lane line.

Preferably, in the high-speed main road speed limiting scene, the shortest length constraint is 100m, and if the current speed limiting value running length is smaller than 100m, the last frame of speed limiting value is maintained.

Preferably, in the high-speed main road speed limiting scene, the highest speed limiting value of the high-speed main road is 120kph, and if the highest speed limiting value is exceeded, the speed is limited according to the highest speed limiting value.

Preferably, in the high-speed main road speed limiting scene, the standard-precision map speed limiting is preferentially adopted, and if the standard-precision map speed limiting is not adopted, the high-precision map speed limiting is adopted.

An intelligent speed limiting system for high speed pilot assist driving for implementing any of the above intelligent speed limiting methods for high speed pilot assist driving, the system comprising:

and a standard-definition map module: the method is used for acquiring road grade speed limit values;

High-precision map module: the method comprises the steps of obtaining a lane-level speed limit value and identifying a road type;

a high-speed pilot auxiliary domain controller: according to the speed limit value and road information provided by the standard-definition map module box high-definition map module, controlling a vehicle electronic power steering system and a vehicle body stability control system to control the lane change and the vehicle speed of the vehicle;

an electronic power steering system: the auxiliary steering system is used for auxiliary steering of the vehicle, and is used for managing steering, lane changing and lane keeping of the vehicle;

vehicle body stability control system: the system is used for stabilizing the running of the vehicle and is responsible for acceleration, deceleration and adaptive cruising of the vehicle.

Compared with the prior art, the invention aims at the situation that the high-speed pilot auxiliary driving function has different speed limiting strategies in a main road, a main road entrance ramp, a ramp entrance main road and a specific scene, can automatically get on and off the ramp according to a navigation path, enter the main road from the ramp, automatically control the acceleration and the deceleration of the vehicle in the longitudinal direction according to the traffic condition of the driving direction of the vehicle driving in the high-speed connection ramp, and improve the subjective experience and the smooth effect of the vehicle in the high-speed pilot auxiliary driving.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a flow chart of the intelligent speed limiting method for high speed pilot assisted driving in embodiment 1;

Fig. 2 is a block diagram of an intelligent speed limiting system for high-speed pilot assisted driving in embodiment 2.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Further, all directional indications (such as up, down, left, right, front, rear, bottom …) in the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indication is changed accordingly. Further, the descriptions of "first," "second," etc. in the application are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.

As shown in fig. 1, the intelligent speed limiting method for high-speed pilot assisted driving in this embodiment includes:

S1, acquiring the type and the speed limit value of a vehicle running road based on a standard-definition map and a high-definition map;

s2, automatically adjusting the speed limit of the vehicle according to the road type and the driving scene;

The road type and the driving scene comprise:

S21, speed limiting scenes of a high-speed main road: if the same speed limit value is adopted in front, the continuous distance is smaller than 1.5km, and the lowest speed limit value is 80kph; if the same speed limit value is adopted in front, the continuous distance is more than or equal to 1.5km, and the lowest speed limit value is 60kph.

After determining the minimum speed limit value, if the speed limit of the standard deviation map is larger than the minimum speed limit value, adopting the standard deviation map to limit the speed; if the speed limit of the standard precise map is not greater than the minimum speed limit value and the speed limit of the high precise map is greater than the minimum speed limit value, adopting the high precise map to limit the speed; if the speed limit of the standard-precision map and the speed limit of the high-precision map are not greater than the minimum speed limit value, and the speed limit of the last frame after the speed arbitration is greater than the minimum speed limit value, adopting the speed limit of the last frame; if the standard-definition map speed limit, the high-definition map speed limit and the last frame speed limit are not larger than the minimum speed limit value, the minimum speed limit value of the scene is adopted, wherein the expressway is 80kph, and the urban expressway is 60kph.

Further, in the high-speed main road speed limiting scene, the shortest length constraint is 100m, and if the current speed limiting value running length is smaller than 100m, the last frame of speed limiting value is kept.

Further, in the high-speed main road speed limiting scene, the highest speed limiting value of the high-speed main road is 120kph, and if the highest speed limiting value is exceeded, the speed is limited according to the highest speed limiting value.

Furthermore, in the high-speed main road speed limiting scene, the standard-precision map speed limiting is preferentially adopted, and if the standard-precision map speed limiting is not adopted, the high-precision map speed limiting is adopted.

S22, a main road ramp speed limiting scene: if a deceleration lane is arranged in front, the vehicle is positioned in two lanes on the right side of the main road and the current driving lane is not directly connected to the ramp within the closest point of the opposite ramp, which is 100m before the point of the deceleration lane and the main road Spilt and is 300m away from the ramp opening, the speed limit of the vehicle is the minimum value between 60kph and the current cruising speed, and the point of the main road Spilt is the bifurcation point between the high-speed main road and the ramp; within 600m before the speed reduction lane and the main road Spilt, the vehicle is positioned on the two lanes on the right side of the main road, and the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed; within 1000m before the speed reduction lane and the main road Spilt point, the vehicle is in any lane, and the vehicle speed limit is the minimum value between 1000kph and the current cruising speed.

If the front side has no deceleration lane, the vehicle is within 200m from the ramp opening and is positioned on the right side of the main road, the current driving lane is not directly connected to the ramp, the curvature passing speed of the front ramp is less than 80kph, and the vehicle speed limit is the minimum value between 60kph and the current cruising speed; the vehicle is within 700m from the ramp opening and is positioned on two lanes on the right side of the main road, and the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed; the vehicle is within 1000m from the ramp opening and is positioned in any lane, and the speed limit of the vehicle is the minimum value between 100kph and the current cruising speed;

When the vehicle is in a decelerating lane or an accelerating and decelerating composite lane of which the vehicle is used as the decelerating lane, if the speed limit value of the high-precision map of the decelerating lane is smaller than 80kph, the speed limit of the vehicle is the minimum value between 60kph and the current cruising speed; and if the speed limit value of the high-precision map of the decelerating lane is greater than or equal to 80kph, the vehicle speed limit is the minimum value between 80kph and the current cruising speed.

S23, speed limiting scene in ramp: if the transverse passable speed of the curvature in the front 500m is greater than 80kph, the vehicle speed limit is the minimum value between 80kph and the current cruising speed; if the transverse passable speed of the curvature in front 200m is less than 80kph, or the ramp which needs to be changed is divided into two road conditions in the ramp, the vehicle speed limit is 60kph.

S24, a ramp entering main road speed limiting scene: in an acceleration lane or an acceleration-deceleration composite lane in which the vehicle is used as an acceleration lane, the vehicle speed limit is a maximum value between 80kph and the current cruise vehicle speed.

S25, speed limit value abnormal speed limit scene: if the vehicle is in the main road, the speed limit of the vehicle is 80kph; if the vehicle is in the ramp access main road condition and the main road speed limit is less than 80kph, the speed limit is 100kph after the vehicle is changed to the main road.

S26, a speed limit scene without receiving a speed limit value: and adjusting the speed limit of the vehicle according to the type of the road on which the vehicle runs and the high-speed scene.

S27, tunnel speed limiting scene: if the tunnel speed limit value exists, before the vehicle is 200m away from the tunnel portal, the speed limit is the minimum value among the tunnel speed, the current cruising speed and the current point main road speed limit; before the vehicle is 400m away from the tunnel portal, the speed limit is the minimum value between the tunnel speed plus 20kph, the current cruising speed and the current point main road speed limit; before the vehicle is 600m away from the tunnel portal, the speed limit is the minimum value among the tunnel speed +40kph, the current cruising speed and the current point main road speed limit;

if the tunnel speed limit value is not available, before the vehicle is 200m away from the tunnel portal, the speed limit is 80kph, and the minimum value between the current cruising speed and the current point main road speed limit is set; before the vehicle is 400m away from the tunnel portal, the speed limit is 100kph, and the minimum value between the current cruising speed and the current point main road speed limit is set; before the vehicle is 600m from the tunnel portal, the minimum value between the speed limit of 120kph, the current cruising speed and the current point main road speed limit is reached.

S28, specific speed limit scenes: when a vehicle enters a toll station or an inspection station, the vehicle starts to decelerate 600m away from an entrance, limits the speed to 80kph, limits the speed to 60kph 400m away from the entrance, exits the pilot assistance function 200m away from the entrance, degrades the automatic driving mode to L2, and degrades the automatic driving mode to the self-adaptive cruise control if the road section has no lane line;

when a vehicle enters a service area or a gas station, the vehicle starts to decelerate 400m away from an entrance, limits the speed to 80kph, limits the speed to 60kph 200m away from the entrance, exits the pilot assistance function when reaching the entrance, degrades the automatic driving mode to L2, and degrades the automatic driving mode to the self-adaptive cruise control if the road section has no lane line.

Example 2

As shown in fig. 2, the intelligent speed limiting system for high-speed pilot assisted driving in this embodiment is configured to implement the intelligent speed limiting method for high-speed pilot assisted driving described in embodiment 1, where the system includes:

and a standard-definition map module: the method is used for acquiring road grade speed limit values;

High-precision map module: the method comprises the steps of obtaining a lane-level speed limit value and identifying a road type;

a high-speed pilot auxiliary domain controller: according to the speed limit value and road information provided by the standard-definition map module box high-definition map module, controlling a vehicle electronic power steering system and a vehicle body stability control system to control the lane change and the vehicle speed of the vehicle;

an electronic power steering system: the auxiliary steering system is used for auxiliary steering of the vehicle, and is used for managing steering, lane changing and lane keeping of the vehicle;

vehicle body stability control system: the system is used for stabilizing the running of the vehicle and is responsible for acceleration, deceleration and adaptive cruising of the vehicle.

While the present invention has been described with reference to the above embodiments, it is apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit of the invention.

Claims (5)

1. An intelligent speed limiting method for high-speed pilot assisted driving, the method comprising:

S1, acquiring the type and the speed limit value of a vehicle running road based on a standard-definition map and a high-definition map;

s2, automatically adjusting the speed limit of the vehicle according to the road type and the driving scene;

The road type and the driving scene comprise:

S21, speed limiting scenes of a high-speed main road: if the same speed limit value is adopted in front, the continuous distance is smaller than 1.5km, and the lowest speed limit value is 80kph; if the same speed limit value is adopted in front, the continuous distance is more than or equal to 1.5km, and the lowest speed limit value is 60kph;

After determining the minimum speed limit value, if the speed limit of the standard deviation map is larger than the minimum speed limit value, adopting the standard deviation map to limit the speed; if the speed limit of the standard precise map is not greater than the minimum speed limit value and the speed limit of the high precise map is greater than the minimum speed limit value, adopting the high precise map to limit the speed; if the speed limit of the standard-precision map and the speed limit of the high-precision map are not greater than the minimum speed limit value, and the speed limit of the last frame after the speed arbitration is greater than the minimum speed limit value, adopting the speed limit of the last frame; if the standard-precision map speed limit, the high-precision map speed limit and the last frame speed limit are not greater than the minimum speed limit value, adopting a scene minimum speed limit value, wherein the expressway is 80kph, and the urban expressway is 60kph;

S22, a main road ramp speed limiting scene: if a deceleration lane is arranged in front, the vehicle is positioned in two lanes on the right side of the main road and the current driving lane is not directly connected to the ramp within the closest point of the opposite ramp, which is 100m before the point of the deceleration lane and the main road Spilt and is 300m away from the ramp opening, the speed limit of the vehicle is the minimum value between 60kph and the current cruising speed, and the point of the main road Spilt is the bifurcation point between the high-speed main road and the ramp; within 600m before the speed reduction lane and the main road Spilt, the vehicle is positioned on the two lanes on the right side of the main road, and the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed; within 1000m before the speed reduction lane and the main road Spilt, the vehicle is in any lane, and the speed limit of the vehicle is the minimum value between 1000kph and the current cruising speed;

If the front side has no deceleration lane, the vehicle is within 200m from the ramp opening and is positioned on the right side of the main road, the current driving lane is not directly connected to the ramp, the curvature passing speed of the front ramp is less than 80kph, and the vehicle speed limit is the minimum value between 60kph and the current cruising speed; the vehicle is within 700m from the ramp opening and is positioned on two lanes on the right side of the main road, and the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed; the vehicle is within 1000m from the ramp opening and is positioned in any lane, and the speed limit of the vehicle is the minimum value between 100kph and the current cruising speed;

When the vehicle is in a decelerating lane or an accelerating and decelerating composite lane of which the vehicle is used as the decelerating lane, if the speed limit value of the high-precision map of the decelerating lane is smaller than 80kph, the speed limit of the vehicle is the minimum value between 60kph and the current cruising speed; if the speed limit value of the high-precision map of the speed reduction lane is greater than or equal to 80kph, the speed limit of the vehicle is the minimum value between 80kph and the current cruising speed;

S23, speed limiting scene in ramp: if the transverse passable speed of the curvature in the front 500m is greater than 80kph, the vehicle speed limit is the minimum value between 80kph and the current cruising speed; if the transverse passable speed of the front 200m inner curvature is less than 80kph, or a ramp needing to be changed is divided into two road conditions in the ramp, the vehicle speed limit is 60kph;

S24, a ramp entering main road speed limiting scene: in an acceleration lane or an acceleration-deceleration composite lane in which the vehicle is used as an acceleration lane, the vehicle speed limit is a maximum between 80kph and the current cruising vehicle speed;

s25, speed limit value abnormal speed limit scene: if the vehicle is in the main road, the speed limit of the vehicle is 80kph; if the vehicle is in a ramp access main road condition and the main road speed limit is less than 80kph, changing the road to the main road speed limit is 100kph;

S26, a speed limit scene without receiving a speed limit value: according to the road type where the vehicle runs and the high-speed scene, the speed limit of the vehicle is adjusted;

s27, tunnel speed limiting scene: if the tunnel speed limit value exists, before the vehicle is 200m away from the tunnel portal, the speed limit is the minimum value among the tunnel speed, the current cruising speed and the current point main road speed limit; before the vehicle is 400m away from the tunnel portal, the speed limit is the minimum value between the tunnel speed plus 20kph, the current cruising speed and the current point main road speed limit; before the vehicle is 600m away from the tunnel portal, the speed limit is the minimum value among the tunnel speed +40kph, the current cruising speed and the current point main road speed limit;

If the tunnel speed limit value is not available, before the vehicle is 200m away from the tunnel portal, the speed limit is 80kph, and the minimum value between the current cruising speed and the current point main road speed limit is set; before the vehicle is 400m away from the tunnel portal, the speed limit is 100kph, and the minimum value between the current cruising speed and the current point main road speed limit is set; before the vehicle is 600m away from the tunnel portal, limiting the speed by 120kph, and limiting the minimum value between the current cruising speed and the current point main road;

s28, specific speed limit scenes: when a vehicle enters a toll station or an inspection station, the vehicle starts to decelerate 600m away from an entrance, limits the speed to 80kph, limits the speed to 60kph 400m away from the entrance, exits the pilot assistance function 200m away from the entrance, degrades the automatic driving mode to L2, and degrades the automatic driving mode to the self-adaptive cruise control if the road section has no lane line;

when a vehicle enters a service area or a gas station, the vehicle starts to decelerate 400m away from an entrance, limits the speed to 80kph, limits the speed to 60kph 200m away from the entrance, exits the pilot assistance function when reaching the entrance, degrades the automatic driving mode to L2, and degrades the automatic driving mode to the self-adaptive cruise control if the road section has no lane line.

2. The intelligent speed limiting method for high-speed pilot assisted driving according to claim 1, wherein in a high-speed main road speed limiting scene, the shortest length constraint is 100m, and if the current speed limiting value driving length is less than 100m, the last frame of speed limiting value is maintained.

3. The intelligent speed limiting method for high-speed pilot assisted driving according to claim 1, wherein in a high-speed main road speed limiting scene, the highest speed limiting value of the high-speed main road is 120kph, and if the highest speed limiting value is exceeded, the speed is limited according to the highest speed limiting value.

4. The intelligent speed limiting method for high-speed pilot assisted driving according to claim 1, wherein in a high-speed main road speed limiting scene, the speed limiting of a standard-definition map is preferentially adopted, and if the speed limiting of the standard-definition map is not adopted, the speed limiting of the high-definition map is adopted.

5. An intelligent speed limiting system for high speed pilot assist driving, characterized in that it is adapted to implement the intelligent speed limiting method for high speed pilot assist driving according to any one of the preceding claims 1 to 4, said system comprising:

and a standard-definition map module: the method is used for acquiring road grade speed limit values;

High-precision map module: the method comprises the steps of obtaining a lane-level speed limit value and identifying a road type;

a high-speed pilot auxiliary domain controller: according to the speed limit value and road information provided by the standard-definition map module box high-definition map module, controlling a vehicle electronic power steering system and a vehicle body stability control system to control the lane change and the vehicle speed of the vehicle;

an electronic power steering system: the auxiliary steering system is used for auxiliary steering of the vehicle, and is used for managing steering, lane changing and lane keeping of the vehicle;

vehicle body stability control system: the system is used for stabilizing the running of the vehicle and is responsible for acceleration, deceleration and adaptive cruising of the vehicle.