CN-121973771-A - Intelligent driving method, device and equipment based on speed regulation of different road segments

CN121973771ACN 121973771 ACN121973771 ACN 121973771ACN-121973771-A

Abstract

The application discloses an intelligent driving method, device and equipment based on speed regulation of different road segments, and relates to the technical field of vehicle control, comprising the steps of identifying the type of a current road segment based on navigation data, vehicle end perception data and road side perception data; the method comprises the steps of determining a target vehicle speed according to navigation data, road side perception data and a current road section type, generating a smooth transition vehicle speed curve according to the target vehicle speed when the environment where the vehicle is located meets preset conditions, and controlling the vehicle to run according to the smooth transition vehicle speed curve. The intelligent driving system and the intelligent driving method solve the defects that the prior art relies on single vehicle-mounted perception, cannot respond to blind zone risks in time and causes speed regulation stiffness according to static speed limit through fusion and cooperation of vehicle-end and road-side multisource perception information, realize continuous, stable and self-adaptive control of the vehicle speed under a full scene road section, and effectively improve the driving safety, riding comfort and passing efficiency of the intelligent driving system under complex road conditions.

Inventors

LI XIANG
WANG ZHE
GAN XIN
LIU QIYUAN
WU KAIYE

Assignees

上汽通用五菱汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260109

Claims (10)

1. An intelligent driving method based on speed regulation of different road segments is characterized by comprising the following steps: Acquiring vehicle end sensing data, road side sensing data and navigation data; Identifying a current road section type based on the navigation data, the vehicle end perception data and the road side perception data; determining a target vehicle speed according to the navigation data, the road side perception data and the current road section type; When the environment where the vehicle is located meets the preset condition, generating a smooth transition vehicle speed curve according to the target vehicle speed; And controlling the vehicle to run according to the smooth transition vehicle speed curve.
2. The method of claim 1, wherein the identifying the current road segment type based on the navigation data, the vehicle-end awareness data, and the roadside awareness data comprises: obtaining the number of lanes and signal control information based on the navigation data, the vehicle end perception data and the road side perception data; obtaining a curvature radius according to the vehicle end sensing data; And identifying the current road section type according to the number of lanes, the curvature radius and the signal control information, wherein the current road section type comprises a highway main road, a ramp, an urban road, a village narrow road, an intersection and a special road section.
3. The method of claim 1, wherein said determining a target vehicle speed based on said navigation data, said road side awareness data, and said current road segment type comprises: Acquiring a curvature radius; Obtaining the basic speed limit of the current road section based on the navigation data; Obtaining a curvature coefficient according to the curvature radius; obtaining a traffic flow coefficient and a road surface coefficient based on the road side perception data; And determining a target vehicle speed based on the current road section type, the current road section basic speed limit, the curvature coefficient, the traffic flow coefficient and the road surface coefficient.
4. The method of claim 3, wherein the determining a target vehicle speed based on the current road segment type, the current road segment base speed limit, the curvature coefficient, the traffic flow coefficient, and the road surface coefficient comprises: When the historical vehicle speed data corresponding to the current road section type stored in the historical database is obtained, obtaining a target vehicle speed based on the current road section basic speed limit, the curvature coefficient, the vehicle flow coefficient, the road surface coefficient and the historical vehicle speed data; And when the historical vehicle speed data corresponding to the current road section type stored in the historical database is not obtained, obtaining a target vehicle speed based on the current road section basic speed limit, the curvature coefficient, the vehicle flow coefficient and the road surface coefficient.
5. The method of claim 1, wherein before generating the smooth transition vehicle speed curve according to the target vehicle speed when the environment in which the vehicle is located satisfies the preset condition, further comprises: Acquiring a curvature radius; Obtaining the speed limit difference of the adjacent road sections based on the navigation data; And when the speed limit difference of the adjacent road sections is larger than a preset speed limit threshold value or the curvature radius is smaller than a preset curvature radius threshold value, determining that the environment where the vehicle is located meets a preset condition.
6. The method of claim 1, wherein generating a smooth transition vehicle speed curve from the target vehicle speed when the environment in which the vehicle is located satisfies a preset condition comprises: when the environment where the vehicle is located meets the preset condition, obtaining a transition distance constraint condition based on the current vehicle speed; and generating a smooth transition vehicle speed curve according to the transition distance constraint condition and the target vehicle speed.
7. The method of claim 1, wherein obtaining vehicle-side awareness data and road-side awareness data comprises: Acquiring vehicle surrounding targets and lane line information acquired by a vehicle-mounted sensor and road side point cloud data acquired by a road side sensor; Performing target detection and positioning based on the surrounding targets of the vehicle and lane line information to obtain vehicle end perception data; and extracting blind area target data based on the road side point cloud data to obtain road side perception data.
8. The method of any one of claims 1 to 7, wherein the method further comprises: obtaining blind area target data based on the road side perception data; generating blind area early warning information according to the blind area target data; Pushing the blind area early warning information and the current road section type to a vehicle end for reminding; and updating a historical database based on the current road section type, the vehicle end perception data, the road side perception data and the target vehicle speed.
9. An intelligent driving device based on speed regulation of different road segments, which is characterized by comprising: the acquisition module is used for acquiring vehicle end perception data, road side perception data and navigation data; The identification module is used for identifying the current road section type based on the navigation data, the vehicle end perception data and the road side perception data; the vehicle speed module is used for determining a target vehicle speed according to the navigation data, the road side perception data and the current road section type; the curve module is used for generating a smooth transition vehicle speed curve according to the target vehicle speed when the environment where the vehicle is located meets the preset condition; and the control module is used for controlling the vehicle to run according to the smooth transition vehicle speed curve.
10. An intelligent driving apparatus based on different road segment speed regulation, characterized in that the apparatus comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the intelligent driving method based on different road segment speed regulation as claimed in any one of claims 1 to 8.

Description

Intelligent driving method, device and equipment based on speed regulation of different road segments Technical Field The application relates to the technical field of vehicle control, in particular to an intelligent driving method, device and equipment based on speed regulation of different road segments. Background With the complexity of urban and inter-urban traffic networks and the popularization of intelligent driving vehicles, clear technical demands are put forward for smooth, safe and self-adaptive speed control of vehicles among different types of road sections. The intelligent driving system is required to accurately identify diversified road scenes, and dynamically and continuously adjust the vehicle speed based on multi-source real-time information so as to ensure driving safety, improve traffic efficiency and optimize riding comfort. Currently, the prior art relies mainly on-board sensor sensing and speed regulation strategies based on fixed speed limit rules. The sensing range of the scheme is limited by the visual field of the vehicle-mounted sensor and the shielding of vehicles in front, the transverse traffic participation targets cannot be detected timely under blind area scenes such as intersections and the like, so that collision risks are caused, the speed regulation strategy is stiff, the speed regulation strategy is generally regulated only according to static speed limit values in a map, real-time traffic flow, road surface states and historical driving data are not fully fused, and particularly abrupt changes of the vehicle speed are easily generated in scenes such as high-speed ramp connection and the like, so that driving discomfort is caused, and safety is influenced. Therefore, how to overcome the limitation of single vehicle-mounted perception, and to realize an intelligent dynamic speed regulation method which can integrate multi-source information, adapt to the road section characteristics of a full scene and carry out smooth speed transition, is a technical problem to be solved at present. The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present application and is not intended to represent an admission that the foregoing is prior art. Disclosure of Invention The application mainly aims to provide an intelligent driving method, device and equipment based on speed regulation of different road segments, and aims to solve the technical problem of how to realize safe and stable speed regulation of multi-path segment differentiation. In order to achieve the above purpose, the application provides an intelligent driving method based on speed regulation of different road segments, which comprises the following steps: Acquiring vehicle end sensing data, road side sensing data and navigation data; Identifying a current road section type based on the navigation data, the vehicle end perception data and the road side perception data; determining a target vehicle speed according to the navigation data, the road side perception data and the current road section type; When the environment where the vehicle is located meets the preset condition, generating a smooth transition vehicle speed curve according to the target vehicle speed; And controlling the vehicle to run according to the smooth transition vehicle speed curve. In an embodiment, the identifying the current road segment type based on the navigation data, the vehicle-end awareness data, and the road-side awareness data includes: obtaining the number of lanes and signal control information based on the navigation data, the vehicle end perception data and the road side perception data; obtaining a curvature radius according to the vehicle end sensing data; And identifying the current road section type according to the number of lanes, the curvature radius and the signal control information, wherein the current road section type comprises a highway main road, a ramp, an urban road, a village narrow road, an intersection and a special road section. In an embodiment, the determining the target vehicle speed according to the navigation data, the road side perception data and the current road segment type includes: Acquiring a curvature radius; Obtaining the basic speed limit of the current road section based on the navigation data; Obtaining a curvature coefficient according to the curvature radius; obtaining a traffic flow coefficient and a road surface coefficient based on the road side perception data; And determining a target vehicle speed based on the current road section type, the current road section basic speed limit, the curvature coefficient, the traffic flow coefficient and the road surface coefficient. In an embodiment, the determining the target vehicle speed based on the current road segment type, the current road segment base speed limit, the curvature coefficient, the traffic flow coefficient, and the road surface coefficient includes: When the historical ve