CN112389434A - Vehicle safe driving control method and system - Google Patents
Vehicle safe driving control method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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Abstract
The invention provides a vehicle safe driving control method and a vehicle safe driving control system, which relate to the technical field of traffic transportation, and the method comprises the following steps: presetting electronic map information, and acquiring vehicle running information data; matching the vehicle driving information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located; calculating a driving strategy of the vehicle at the branch road according to the road information data; comparing the vehicle running information data with a running strategy of the vehicle at the branch road to obtain a vehicle running instruction; and controlling the vehicle to run according to the vehicle running command. The invention fully combines the preset electronic map and the control system of the vehicle, calculates the vehicle control strategy according to the actual running condition of the vehicle and provides the vehicle control strategy for a driver of a vehicle novice, and can help the driver to perform timely prejudgment on the vehicle in the environments of a turnout, a turn and the like and control the vehicle to run more accurately, efficiently and safely.
Description
Technical Field
The invention belongs to the technical field of transportation, and particularly relates to a vehicle safe driving control method and system.
Background
With the rapid development of economy, the consumption capacity of the nation is continuously increased, the fast-paced life and high-efficiency work are one of the important requirements of daily life and work of people, in order to meet the requirements, tools used by people are required to have higher convenience, and since automobiles are invented, the great convenience is widely applied to various scenes of life of people, so that the living standard and the working efficiency of people are greatly improved, and the progress of human society is promoted.
As automobiles are widely used, there are also great negative effects, such as consumption of a large amount of energy, and serious traffic congestion problems and frequent occurrence of safe traffic accidents, etc. For example, when a vehicle is running in a city, particularly, because a novice driver is not familiar with road traffic, the novice driver cannot clearly know specific situation information of a road ahead, when the vehicle is about to arrive at a front intersection or under a traffic situation where a front fork occurs, the novice driver cannot quickly make a correct judgment due to insufficient experience, and in addition, the traffic environment of the intersection and the fork is very complex, and the driver is easily interfered by different environmental factors, so that normal traffic driving is influenced, and traffic accidents are frequent.
At present, safe driving of vehicles is mostly realized according to driving experience and driving habits of drivers, and the drivers do not have reproducibility, but the number of experienced drivers far cannot meet the increasing driving requirements. Therefore, a method and a system for controlling safe driving of a vehicle are needed to assist a novice driver to timely grasp the branch information of the road ahead and accurately make operation judgment for controlling the vehicle, so as to achieve the purposes of reducing traffic accidents and driving safely.
Disclosure of Invention
The invention provides a vehicle safe driving control method and a vehicle safe driving control system, which aim to solve the problems that a novice driver is not familiar with road traffic, has insufficient experience and cannot make correct judgment quickly, and in addition, the traffic environment of an intersection and a fork intersection is very complex, the driver is easily interfered by different environmental factors to influence normal traffic driving, so that traffic accidents are frequent, and the safe driving of the vehicle is mostly realized according to the driving experience and driving habit of the driver at present and has no reproducibility.
The technical scheme of the invention is as follows:
a control method for safe driving of a vehicle,
the information of the electronic map is preset and,
the method comprises the following steps:
acquiring vehicle running information data;
matching the vehicle driving information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located;
calculating a driving strategy of the vehicle at the branch road according to the road information data;
comparing the vehicle running information data with a running strategy of the vehicle at the branch road to obtain a vehicle running instruction;
and controlling the vehicle to run according to the vehicle running command.
Still further, the vehicle travel information data includes: vehicle travel plan information data, vehicle speed information data, vehicle positioning information data, vehicle gross weight data, vehicle tire friction coefficient data.
Further, the information data of the road branch intersection where the vehicle is located includes: pedestrian information at the fork, driving information at the fork, road identification information at the fork, road curvature radius data at the fork, road gradient data at the fork and road extension direction data at the fork.
Further, the calculating the driving strategy of the vehicle at the branch road according to the information data of the road branch road where the vehicle is located includes:
and calculating the optimal running speed of the running vehicle on the current road.
Still further, the calculating of the vehicle optimal running speed of the running vehicle on the current road includes:
setting a vehicle driving speed threshold V1 when a pedestrian is present at the intersection in the pedestrian information at the intersection;
setting a vehicle running speed threshold V2 when the vehicle runs at the intersection in the running information of the intersection;
setting the speed limit of the fork in the road mark information of the fork as a speed threshold V3 for the vehicle to run;
calculating a speed threshold V4 of the vehicle about to turn according to the curve radius data of the road at the intersection and the friction coefficient data of the tires of the vehicle;
and taking the minimum value of V1, V2, V3 and V4 as the optimal running speed of the running vehicle on the current road.
Further, the expression that the vehicle is about to turn the speed threshold V4 is calculated is:
V42＝(μr)
wherein:
mu is vehicle tire friction coefficient data;
and r is road curvature radius data.
Further, the comparing the vehicle driving information data with the driving strategy of the vehicle at the branch road to obtain the vehicle driving command comprises:
comparing the vehicle speed information data in the vehicle information data with the calculated optimal running speed of the vehicle,
if the difference value between the vehicle speed information data and the optimal running speed of the vehicle is larger than a set threshold value, the running speed of the vehicle is adjusted to be within a safe running range;
and if the difference value between the vehicle speed information data and the optimal running speed of the vehicle is less than a set threshold value, maintaining the current running speed to continue running.
The present invention also provides a vehicle safe driving control system, including:
the information storage module is used for storing preset electronic map information;
the information acquisition module is used for acquiring vehicle running information data and sending the vehicle running information data to the information processing module;
the information processing module is used for matching the vehicle running information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located; calculating a driving strategy of the vehicle at the branch road according to the road information data; comparing the vehicle running information data with a running strategy of the vehicle at a branch road to obtain a vehicle running instruction, and sending the vehicle running instruction to a control module;
and the control module is used for controlling the vehicle to run according to the vehicle running instruction.
Further, the calculating the driving strategy of the vehicle at the branch road according to the information data of the road branch road where the vehicle is located by the information processing module comprises:
and calculating the optimal running speed of the running vehicle on the current road.
Still further, the information processing module calculating the vehicle optimum running speed of the running vehicle on the current road includes:
setting a vehicle driving speed threshold V1 when a pedestrian is present at the intersection in the pedestrian information at the intersection;
setting a vehicle running speed threshold V2 when the vehicle runs at the intersection in the running information of the intersection;
setting the speed limit of the fork in the road mark information of the fork as a speed threshold V3 for the vehicle to run;
calculating a speed threshold V4 of the vehicle about to turn according to the curve radius data of the road at the intersection and the friction coefficient data of the tires of the vehicle;
and taking the minimum value of V1, V2, V3 and V4 as the optimal running speed of the running vehicle on the current road.
The vehicle safe driving control method and the vehicle safe driving control system fully combine the preset electronic map and the control system of the vehicle, calculate the vehicle control strategy according to the actual running condition of the vehicle and provide the vehicle control strategy for a driver of a vehicle novice, and can help the driver to perform timely prejudgment on the vehicle in the environments of a turnout, a turn and the like, thereby controlling the vehicle to run more accurately, efficiently and safely. Meanwhile, the existing vehicle-mounted terminal on the vehicle is used as a storage module to store a preset electronic map, so that an additional device is not needed, the cost is saved, and the vehicle-mounted terminal has obvious economic effect and practicability.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for controlling safe driving of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating a control system for safe driving of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the wide use of automobiles, a large amount of energy is consumed, the serious traffic jam problem, the environmental pollution problem and the like are often caused in the life scene of people, more and more troubles are caused to people, and the convenience of the automobiles is greatly influenced. In order to solve these problems, we need to perform specific analysis on specific scenes, and then solve specific problems. A very typical specific scenario of a problem is that, during a driving process of a vehicle, especially during a driving process in a city, since a driver does not know a traffic condition of a road section to be reached in front, if a novice driver cannot accurately and timely know a road condition during a process of passing a front intersection or during a process of requiring a sudden turn of the vehicle, it is difficult to perform a timely vehicle control adjustment on the encountered driving condition, and in addition, traffic environments of an intersection and an intersection are very complex, and the driver is easily interfered by different environmental factors, so that normal traffic driving is affected, and traffic accidents are frequent. Therefore, the invention provides a vehicle safe driving control method and system, which assist a novice driver to master the turnout information of the road ahead in time and accurately make operation judgment for controlling the vehicle, thereby achieving the aims of reducing traffic accidents and driving safely.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a control method for safe driving of a vehicle according to an embodiment of the present invention. As shown in fig. 1, a control method for safe driving of a vehicle, the method comprising the steps of:
s101: presetting electronic map information;
the preset electronic map information includes, but is not limited to, an electronic navigation map and a high-precision map, and the preset electronic map information includes at least information data such as road curvature radius data, road gradient data, and road extending direction data. The expression form of the electronic navigation map is inclined to a structure of a 'directed graph', roads are abstracted into one edge, and the communicated relation of all edges forms the integral directed graph. Similar electronic navigation maps comprise a Baidu electronic navigation map, a Gauder electronic navigation map, a Google electronic map and the like; the navigation map is used for providing directional guidance for the driver, and specific identification marks on roads, complex conditions of entrances and exits, whether pedestrians are nearby and the like are judged by the driver. The absolute coordinate precision of the high-precision electronic map is higher. Absolute coordinate accuracy refers to the accuracy between an object on a map and a real world-outside thing. On the other hand, the road traffic information elements contained in the high-precision map are more abundant and detailed. The high-precision map can clearly help the driver to identify the geographic information, and the extremely high precision of the high-precision map is enough for the use of the unmanned vehicle.
The specific preset electronic map information can be one of an electronic navigation map or a high-precision map, or at least one electronic map information can be preset at the same time, and when the at least one electronic map information is preset, a driver can select the type of the used electronic map according to actual needs in the actual use process. In this embodiment, a preset high-precision map is selected.
S102: acquiring vehicle information data;
the vehicle information data referred to in the present application includes, but is not limited to, vehicle travel plan information data, vehicle speed information data, vehicle positioning information data, vehicle total weight data, vehicle tire friction coefficient data, and the like; vehicle travel data of a surrounding vehicle centered on the own vehicle, such as a vehicle-to-vehicle distance from the surrounding vehicle, a relative vehicle speed, and the like, may also be included. It should be noted that the collected specific vehicle information data is collected according to specific needs, and the specific content of the driving data mentioned above is only an example and is not a limitation to the present invention.
S103: matching the vehicle driving information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located;
specifically, the current positioning information data of the vehicle is extracted from the collected vehicle information data, the current positioning information data of the vehicle is matched with preset electronic map information, and road information data of the positioning position on the electronic map information is obtained through interpolation. For example, the information data of the road branch intersection where the vehicle is located includes, but is not limited to, the following information: pedestrian information at the fork, driving information at the fork, road identification information at the fork, road curvature radius data at the fork, road gradient data at the fork and road extension direction data at the fork.
Further, the obtaining of the road information data of the vehicle includes:
extracting the vehicle positioning information data;
and judging the current position information of the vehicle by combining the electronic map information, and when the distance between the vehicle and the next branch intersection is less than or equal to a certain distance, the information data of the branch intersection is the information data of the required road branch intersection where the vehicle is located. For example, in the embodiment of the present invention, when the distance value of the vehicle from the next branch point is 200 meters, that is, the distance of the vehicle from the next branch point is less than or equal to 200 meters, the information data of the branch point is extracted.
And judging the current position information of the vehicle by combining the electronic map information, and obtaining the detailed information of the electronic map at the positioning data by adopting an image interpolation technology. Exemplary image interpolation techniques include, but are not limited to, Nearest-neighbor and Bilinear interpolation.
S104: calculating a driving strategy of the vehicle at the branch road according to the road information data;
it should be noted that the vehicle driving strategy described in the present application includes, but is not limited to, the optimal driving speed of the vehicle, the engine output torque, the fuel injection output amount, and the like.
For example, the calculating the driving strategy of the vehicle at the branch road according to the information data of the road branch road where the vehicle is located includes: and calculating the optimal running speed of the running vehicle on the current road.
Further, the calculating of the optimal traveling speed of the vehicle includes:
setting a vehicle driving speed threshold V1 when a pedestrian is present at the intersection in the pedestrian information at the intersection;
setting a vehicle running speed threshold V2 when the vehicle runs at the intersection in the running information of the intersection;
setting the speed limit of the fork in the road mark information of the fork as a speed threshold V3 for the vehicle to run;
calculating a speed threshold V4 of the vehicle about to turn according to the curve radius data of the road at the intersection and the friction coefficient data of the tires of the vehicle;
and taking the minimum value of V1, V2, V3 and V4 as the optimal running speed of the running vehicle on the current road.
Wherein the expression for calculating the speed threshold V4 for the upcoming turn of the vehicle from the intersection road curvature radius data (r) and the vehicle tire friction coefficient data (μ) is:
V42＝(μr)
illustratively, V1, V2, V3 and V4 in the embodiment of the present invention are 20Km/h, 22Km/h, 40Km/h and 50Km/h, respectively, and the minimum value of V1, V2, V3 and V4, that is, 20Km/h is the optimal vehicle running speed of the running vehicle at the intersection on the current road.
Meanwhile, by considering the factors of economy, energy conservation and the like, a series of vehicle speed state quantities can be planned according to the gradient, curvature, speed limit and traffic scene information of the current road information data so as to meet the requirement of optimal economy. Exemplarily, when the vehicle turns, the speed of the vehicle is too large, the driver can step on the brake at the moment, the kinetic energy can be converted into the brake energy at the moment, the energy waste is caused, and the waste caused by the energy conversion can be avoided by controlling the speed of the vehicle in advance. And when the vehicle ascends a slope, judging whether the vehicle can stably ascend the slope according to the current speed and the power of the vehicle. When the output power is insufficient, the gear is switched in advance, so that the situation that a driver steps on the accelerator suddenly can be avoided. So as to achieve the purpose of vehicle energy conservation.
S105: comparing the vehicle information data with the vehicle driving strategy to obtain a vehicle driving instruction;
specifically, the step of comparing the vehicle travel information data with the vehicle travel strategy at the branch point to obtain the vehicle travel command includes:
comparing the vehicle speed information data in the vehicle information data with the calculated optimal vehicle running speed;
if the difference value between the vehicle speed information data and the optimal vehicle running speed is larger than a set threshold value, generating an adjustment instruction for a vehicle running strategy to enable the vehicle running speed to be within a safe running range;
and if the difference value between the vehicle speed information data and the optimal running speed of the vehicle is smaller than a set threshold value, generating an instruction for maintaining the current running strategy to continue running.
Furthermore, when the speed difference between the two is larger than the set threshold value,
if the vehicle speed information data is larger than the calculated optimal running speed, the running vehicle should be decelerated, and a vehicle running deceleration instruction is generated at the moment;
and if the vehicle speed information data is less than the optimal running speed, the running vehicle should be decelerated and accelerated, and a vehicle acceleration instruction is generated at the moment.
For example, the difference threshold between the vehicle speed information data and the optimal vehicle running speed is set to be 5Km/h, the optimal vehicle running speed in the embodiment is 20Km/h through the step S104, the current actual vehicle speed running speed is 30Km/h, the difference between the vehicle speed information data and the optimal vehicle running speed is 10Km/h, the difference is greater than the set difference threshold of 5Km/h, and the current vehicle speed is greater than the optimal vehicle running speed, so as to generate a vehicle running deceleration command.
S106: and controlling the vehicle to run according to the vehicle running command.
Illustratively, when the vehicle running instruction is a deceleration instruction, prompting the vehicle to start deceleration running until the difference value between the vehicle speed information data and the optimal running speed of the vehicle is within a set difference value threshold range, and stopping sending the prompting instruction; when the vehicle running instruction is an acceleration instruction, prompting the vehicle to start acceleration running until the difference value between the vehicle speed information data and the optimal vehicle running speed is within a set difference value threshold range, and stopping sending the prompting instruction; and if the difference value between the vehicle speed information data and the optimal running speed of the vehicle is smaller than a set threshold value, when an instruction for maintaining the current running strategy to continue running is generated, the speed of the vehicle is unchanged, and the current running strategy is maintained to continue running.
Further, the form in which the vehicle driving strategy is presented to the driver in the present application includes, but is not limited to: sound, light, text, etc.
In order to better implement the method, the invention further provides a vehicle safe driving control system, please refer to fig. 2, and fig. 2 shows a schematic structural diagram of a vehicle safe driving control system according to an embodiment of the invention. As shown in fig. 2, the system includes:
the information storage module is used for storing preset electronic map information;
the information acquisition module is used for acquiring vehicle running information data and sending the vehicle running information data to the information processing module;
the information processing module is used for matching the vehicle running information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located; calculating a driving strategy of the vehicle at the branch road according to the road information data; comparing the vehicle running information data with a running strategy of the vehicle at a branch road to obtain a vehicle running instruction, and sending the vehicle running instruction to a control module;
and the control module is used for controlling the vehicle to run according to the vehicle running instruction.
Further, the calculating the driving strategy of the vehicle at the branch road according to the information data of the road branch road where the vehicle is located by the information processing module comprises: and calculating the optimal running speed of the running vehicle on the current road.
The information processing module calculating the optimal vehicle running speed of the running vehicle on the current road comprises the following steps:
setting a vehicle driving speed threshold V1 when a pedestrian is present at the intersection in the pedestrian information at the intersection;
setting a vehicle running speed threshold V2 when the vehicle runs at the intersection in the running information of the intersection;
setting the speed limit of the fork in the road mark information of the fork as a speed threshold V3 for the vehicle to run;
calculating a speed threshold V4 of the vehicle about to turn according to the curve radius data of the road at the intersection and the friction coefficient data of the tires of the vehicle;
and taking the minimum value of V1, V2, V3 and V4 as the optimal running speed of the running vehicle on the current road.
The system CAN receive or transmit the input and output signals of the whole calculated vehicle driving strategy through CAN communication, and complete the signal intercommunication with other control systems of the vehicle, and calculate the reasonably planned vehicle speed considering the safety, thereby not only realizing the analysis of stable, accurate and fast map data by combining the actual running condition of the vehicle, but also predicting the optimal strategy that the vehicle should run when the vehicle is in front of a turnout in advance, assisting a novice driver to master the turnout information of the front road in time and accurately making the operation judgment of controlling the vehicle, and further achieving the purposes of reducing traffic accidents and safely driving.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle safe driving control method is characterized in that electronic map information is preset,
the method comprises the following steps:
acquiring vehicle running information data;
matching the vehicle driving information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located;
calculating a driving strategy of the vehicle at the branch road according to the road information data;
comparing the vehicle running information data with a running strategy of the vehicle at the branch road to obtain a vehicle running instruction;
and controlling the vehicle to run according to the vehicle running command.
2. The vehicle safe driving control method according to claim 1,
the vehicle travel information data includes: vehicle travel plan information data, vehicle speed information data, vehicle positioning information data, vehicle gross weight data, vehicle tire friction coefficient data.
3. The vehicle safe driving control method according to claim 1,
the information data of the road branch intersection where the vehicle is located includes: pedestrian information at the fork, driving information at the fork, road identification information at the fork, road curvature radius data at the fork, road gradient data at the fork and road extension direction data at the fork.
4. The vehicle safe-driving control method according to claim 3,
the calculating the driving strategy of the vehicle at the branch road according to the information data of the road branch road where the vehicle is located comprises the following steps:
and calculating the optimal running speed of the running vehicle on the current road.
5. The vehicular safe driving control method according to claim 4, wherein the calculating of the vehicle optimum running speed of the running vehicle on the current road includes:
setting a vehicle driving speed threshold V1 when a pedestrian is present at the intersection in the pedestrian information at the intersection;
setting a vehicle running speed threshold V2 when the vehicle runs at the intersection in the running information of the intersection;
setting the speed limit of the fork in the road mark information of the fork as a speed threshold V3 for the vehicle to run;
calculating a speed threshold V4 of the vehicle about to turn according to the curve radius data of the road at the intersection and the friction coefficient data of the tires of the vehicle;
and taking the minimum value of V1, V2, V3 and V4 as the optimal running speed of the running vehicle on the current road.
6. The vehicle safe-driving control method according to claim 5,
the expression of the speed threshold value V4 for the vehicle to run on a turn is calculated as follows:
V42＝(μr)
wherein:
mu is vehicle tire friction coefficient data;
and r is road curvature radius data.
7. The vehicle safe-driving control method according to claim 6,
the step of comparing the vehicle running information data with the vehicle running strategy at the branch road to obtain the vehicle running instruction comprises the following steps:
comparing the vehicle speed information data in the vehicle information data with the calculated optimal vehicle running speed;
if the difference value between the vehicle speed information data and the optimal vehicle running speed is larger than a set threshold value, generating an adjustment instruction for a vehicle running strategy to enable the vehicle running speed to be within a safe running range;
and if the difference value between the vehicle speed information data and the optimal running speed of the vehicle is smaller than a set threshold value, generating an instruction for maintaining the current running strategy to continue running.
8. A vehicle safe driving control system, characterized by comprising:
the information storage module is used for storing preset electronic map information;
the information acquisition module is used for acquiring vehicle running information data and sending the vehicle running information data to the information processing module;
the information processing module is used for matching the vehicle running information data with preset electronic map information to obtain information data of a road branch intersection where the vehicle is located; calculating a driving strategy of the vehicle at the branch road according to the road information data; comparing the vehicle running information data with a running strategy of the vehicle at a branch road to obtain a vehicle running instruction, and sending the vehicle running instruction to a control module;
and the control module is used for controlling the vehicle to run according to the vehicle running instruction.
9. The vehicle safe driving control system according to claim 8,
the information processing module calculates the driving strategy of the vehicle at the branch road according to the information data of the road branch road where the vehicle is located, and the method comprises the following steps:
and calculating the optimal running speed of the running vehicle on the current road.
10. The vehicle safe driving control system according to claim 9,
the information processing module calculating the optimal vehicle running speed of the running vehicle on the current road comprises the following steps:
setting a vehicle driving speed threshold V1 when a pedestrian is present at the intersection in the pedestrian information at the intersection;
setting a vehicle running speed threshold V2 when the vehicle runs at the intersection in the running information of the intersection;
setting the speed limit of the fork in the road mark information of the fork as a speed threshold V3 for the vehicle to run;
calculating a speed threshold V4 of the vehicle about to turn according to the curve radius data of the road at the intersection and the friction coefficient data of the tires of the vehicle;
and taking the minimum value of V1, V2, V3 and V4 as the optimal running speed of the running vehicle on the current road.
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