CN106530833A - Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof - Google Patents
Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof Download PDFInfo
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- CN106530833A CN106530833A CN201611242718.7A CN201611242718A CN106530833A CN 106530833 A CN106530833 A CN 106530833A CN 201611242718 A CN201611242718 A CN 201611242718A CN 106530833 A CN106530833 A CN 106530833A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an automatic driving automobile intelligent lane changing system based on automobile networking and a control method thereof and belongs to the intelligent traffic field. The system comprises a GPS module, a wireless communication module, a 4G communication module, a steering system, a steering lamp and an ECU. The GPS module is used for acquiring an automobile position and speed information. The wireless communication module is used for acquiring in real time and feeding back lane changing information timely. The 4G communication module acquires surrounding traffic flow and road parameter information through a base station. The ECU acquires information from the GPS module, the 4G communication module and the wireless communication module and carries out a lane changing decision. After a lane changing idea is decided to be performed, the wireless communication module is used to determine a surrounding traffic flow condition and communicate with an automobile in real time. And finally, the 4G module is used to acquire the needed road parameter information, through calculation, a steering angle is determined and automatic driving automobile intelligent lane changing is realized. In the invention, high efficiency and safety during steering and lane changing processes of the intelligent automobile can be increased.
Description
Technical field
The invention belongs to intelligent transportation field, and in particular to a kind of autonomous driving vehicle intelligence lane change system based on car networking
System and its control method.
Background technology
With the development of Hyundai Motor technology, automobile is possessed by increasing people, although the life band that it gives people
Great convenience is carried out, but the thing followed has also had the traffic accident for occurring again and again.In all kinds of traffic accidents, driver exists
The travel situations of surrounding vehicles can not be perceived in lane change and steering procedure exactly, steering indicating light is forgotten out, accounted for traffic accident cause
A big chunk ratio.
Under the overall background of made in China 2025 and industry 4.0, automobile industry is just towards intelligent and net connectionization direction
Constantly develop, intelligent automobile has become automobile industry focus of attention with car networking.Intelligent transportation simultaneously is that each country causes
In the field for making progress, future will become the inexorable trend of all kinds of traffic system development to power.Traffic intelligence can be prevented
The generation of traffic accident, it is ensured that the security of intelligent automobile driving procedure.
Based on background above, the present invention proposes a kind of autonomous driving vehicle intelligence lane change system based on car networking and its control
Method processed, improves the high efficiency and security of driving conditions.
The content of the invention
The invention aims to automatic driving vehicle discretionary security lane change on a highway is realized, so as to provide one
Plant autonomous driving vehicle intelligence lane change system and its control method based on car networking.
The present invention is adopted the following technical scheme that：
A kind of autonomous driving vehicle intelligence lane change system based on car networking, including GPS module, wireless communication module, 4G
Communication module, steering, steering indicating light and ECU,
The ECU is connected with GPS module, wireless communication module and 4G communication modules respectively, is respectively used to acquisition in real time
The accurate location and speed information of this car, the speed information of surrounding vehicles, the car flow information that surrounding road is obtained by base station and
According to the informix for obtaining, parameter information, the ECU judge whether that needs are overtaken other vehicles；
The ECU is also connected with steering and steering indicating light respectively, and ECU is sentenced according to the surrounding vehicles speed information for obtaining
Whether disconnected lane change process is safe, and sent lane change information, opens steering indicating light to surrounding vehicles by wireless communication module；ECU roots
Corner needed for turning to is calculated according to the surrounding road parameter information for obtaining, control steering is turned to.
Further, GPS module is arranged at vehicle right lateral side, and wireless communication module is arranged at both sides before and after vehicle, 4G communications
Module is arranged at vehicle left rear side, and steering indicating light is arranged at vehicle corner.
A kind of control method of the autonomous driving vehicle intelligence lane change system based on car networking, comprises the following steps：
S1, GPS module obtain the accurate location and speed information of this car in real time and are sent to ECU, and 4G communication modules are real-time
Left side car flow information is obtained by base station and is sent to ECU, wireless communication module obtains front truck speed information in real time and is sent to
Whether ECU, ECU comprehensive descision needs to surmount front truck, carries out lane change, if it is determined that need to surmount front truck then execution step S2, instead
Continue executing with step S1；
S2, wireless communication module receive left side road fore-aft vehicle speed information and are sent to ECU, and ECU judges lane change
Journey whether safety, if it is determined that lane change process safety, then execution step S3, on the contrary then execution step S1；
S3, ECU open steering indicating light, while sending lane change information to surrounding vehicles using wireless communication module；
S4,4G communication module obtains road parameters information in real time and is sent to ECU, and corner needed for turning to is calculated by ECU,
Last ECU realizes lane change according to the steering angle control steering for calculating.
Further, in the S3, autonomous driving vehicle automatically turns on steering indicating light, and again by wireless communication module to week
Enclose vehicle and send information and 4G communication modules acquisition road vehicle information, it is ensured that lane change process safety.
The invention has the beneficial effects as follows：
1. the present invention is realized turning to and is become using the car networking that GPS module, wireless communication module and 4G communication modules are constituted
The overall process in road, does not rely on traditional sensor, easily facilitates the design of vehicle structure, and reduces cost, reliability are high, and
Do not disturbed by external environmental factor.
2. the present invention is combined left side wagon flow situation with this car speed demand according to front truck and is judged whether that needs are overtaken other vehicles, and not only
It is limited only to front truck speed excessively slow, it is ensured that the reliability of lane change process；When needing to overtake other vehicles, by wireless communication module from left side car
Road obtains information of vehicles, carries out lane change, the security of lane change process is effectively ensured after again ensuring that safety.
3. lane change information is sent to surrounding vehicles by wireless communication module during lane change, just reminding other vehicles this cars
In lane change, emergency case is prevented, improve the security of lane change process.
4. in lane change steering procedure, 4G modules obtain road parameters information in real time, steering angle needed for being calculated by ECU, then
Control steering carries out lane change, improves the intelligent of lane change process.
Description of the drawings
Fig. 1 is a kind of structured flowchart of the autonomous driving vehicle intelligence lane change system based on car networking；
Fig. 2 is a kind of module arrangement schematic diagram of the autonomous driving vehicle intelligence lane change system based on car networking；
Fig. 3 is vehicle lane change schematic diagram of the present invention；
Fig. 4 is a kind of control flow chart of the autonomous driving vehicle intelligence lane change system based on car networking.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention, but protection scope of the present invention is simultaneously
Not limited to this.
As shown in figure 1, a kind of structured flowchart of the autonomous driving vehicle intelligence lane change system based on car networking, including GPS
Module 1, wireless communication module 2 (present invention selects wireless local area WLAN), 4G communication modules 3 (present invention selects 4G networks),
Steering 4, steering indicating light 5 and ECU 6；GPS module 1 is arranged at vehicle right lateral side, before and after wireless communication module 2 is arranged at vehicle
Both sides, 4G communication modules 3 are arranged at vehicle left rear side, and steering indicating light 5 is arranged at vehicle corner, as shown in Figure 2.
ECU 6 is connected with GPS module 1, wireless communication module 2 and 4G communication modules 3 respectively, is respectively used to acquisition in real time
The accurate location and speed information of this car, the speed information of surrounding vehicles, the car flow information that surrounding road is obtained by base station and
According to the informix for obtaining, parameter information, ECU 6 judge whether that needs are overtaken other vehicles；ECU 6 also respectively with steering 4 and turn to
Lamp 5 is connected, and according to the surrounding vehicles speed information for obtaining, ECU 6 judges whether lane change process is safe, and pass through radio communication
Module 2 sends lane change information, opens steering indicating light 5 to surrounding vehicles；ECU 6 is calculated according to the surrounding road parameter information for obtaining and is turned
To required corner, control steering 4 is turned to.
ECU 6 is used for autonomous lane change decision-making, lane change analysis, the calculating of lane change corner and four mistakes of lane change course changing control
Journey, in autonomous lane change decision process, ECU 6 is led to according to the vehicle speed and vehicle accurate location that are obtained by GPS module 1
The front truck speed information of the acceptance of wireless communication module 2 is crossed, the left side terrain vehicle stream information obtained by 4G modules 3, comprehensive descision
Whether need to surmount front truck；During lane change analysis, ECU 6 is according to the left front rear car received by wireless communication module 2
Speed information judge lane change process whether safety, and by wireless communication module 2 to surrounding vehicles send lane change information and
Open steering indicating light 5；In lane change corner calculating process, ECU 6 is calculated according to the road parameters information obtained by 4G modules 3 and is turned to
Required corner；During road course changing control, ECU 6 realizes lane change according to the steering angle control steering 4 for calculating.
As shown in figure 3, a kind of autonomous driving vehicle intelligence wagon flow of the lane change system during lane change based on car networking
Situation, this car are in middle lane, and there is vehicle front and back in safe distance, and left front, left back and right there is also
Vehicle, needs of overtaking other vehicles are overtaken other vehicles from left, therefore right vehicle does not affect lane change；Assume that each car all has car networking system,
Therefore each car can obtain road car flow information by base station, and can obtain surrounding vehicles reality by radio communication
When information real-time feedback information.
As shown in figure 4, a kind of control flow chart of the autonomous driving vehicle intelligence lane change system based on car networking, including step
Suddenly：
S1, GPS module 1 obtain vehicle accurate location and speed information in real time and are sent to ECU 6,4G communication modules 3
Left side car flow information is obtained by base station in real time and is sent to ECU 6, it is concurrent that wireless communication module 2 obtains front truck speed information in real time
ECU 6 is given, whether 6 comprehensive descisions of ECU need to surmount front truck, carry out lane change, if it is determined that need to surmount front truck then performing step
Rapid S2, on the contrary continue executing with step S1；
S2, wireless communication module 2 receive left side road fore-aft vehicle speed and are sent to ECU6, and ECU6 judges lane change process
Whether safety, if it is determined that lane change process safety, then execution step S3, on the contrary then execution step S1；
S3, ECU 6 open steering indicating light 5, while sending lane change information to surrounding vehicles using wireless communication module 2；
S4,4G communication module 3 obtains road parameters information in real time and is sent to ECU 6, is calculated by ECU 6 needed for turning to
Corner, last ECU6 realize lane change according to the steering angle control steering 4 for calculating.
The embodiment be the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment, not
In the case of the flesh and blood of the present invention, any conspicuously improved, replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (4)
1. a kind of autonomous driving vehicle intelligence lane change system based on car networking, it is characterised in that including GPS module (1), wireless
Communication module (2), 4G communication modules (3), steering (4), steering indicating light (5) and ECU (6),
The ECU (6) is connected with GPS module (1), wireless communication module (2) and 4G communication modules (3) respectively, is respectively used to
The accurate location and speed information of this car, the speed information of surrounding vehicles are obtained in real time, the car of surrounding road is obtained by base station
According to the informix for obtaining, stream information and parameter information, the ECU (6) judge whether that needs are overtaken other vehicles；
The ECU (6) is also connected with steering (4) and steering indicating light (5) respectively, and ECU (6) is according to the surrounding vehicles car for obtaining
Fast information judges whether lane change process is safe, and sends lane change information, unlatching turn to surrounding vehicles by wireless communication module (2)
To lamp (5)；ECU (6) corners according to needed for the surrounding road parameter information for obtaining is calculated and turned to, control steering (4) are carried out
Turn to.
2. a kind of autonomous driving vehicle intelligence lane change system based on car networking as claimed in claim 1, it is characterised in that
GPS module (1) is arranged at vehicle right lateral side, and wireless communication module (2) is arranged at both sides before and after vehicle, and 4G communication modules (3) set
Vehicle left rear side is placed in, steering indicating light (5) is arranged at vehicle corner.
3. a kind of control method of the autonomous driving vehicle intelligence lane change system based on car networking, it is characterised in that including following
Step：
S1, GPS module (1) obtain the accurate location and speed information of this car in real time and are sent to ECU (6), 4G communication modules (3)
Left side car flow information is obtained by base station in real time and is sent to ECU (6), wireless communication module (2) obtains front truck speed information in real time
And ECU (6) is sent to, whether ECU (6) comprehensive descision needs to surmount front truck, carries out lane change, if it is determined that needing to surmount front truck then
Execution step S2, on the contrary continue executing with step S1；
S2, wireless communication module (2) receive left side road fore-aft vehicle speed information and are sent to ECU (6), and ECU (6) judges to become
Road process whether safety, if it is determined that lane change process safety, then execution step S3, on the contrary then execution step S1；
S3, ECU (6) open steering indicating light (5), while sending lane change information to surrounding vehicles using wireless communication module (2)；
S4,4G communication module (3) obtains road parameters information in real time and is sent to ECU (6), is calculated by ECU (6) needed for turning to
Corner, last ECU (6) realize lane change according to steering angle control steering (4) for calculating.
4. the control method of a kind of autonomous driving vehicle intelligence lane change system based on car networking as claimed in claim 3, its
It is characterised by, in the S3, autonomous driving vehicle automatically turns on steering indicating light, and again by wireless communication module (2) to car around
Sending information and 4G communication modules (3) obtains road vehicle information, it is ensured that lane change process safety.
Priority Applications (1)
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| CN201611242718.7A CN106530833A (en) | 2016-12-29 | 2016-12-29 | Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof |
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| CN201611242718.7A CN106530833A (en) | 2016-12-29 | 2016-12-29 | Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof |
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| CN201611242718.7A Pending CN106530833A (en) | 2016-12-29 | 2016-12-29 | Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof |
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| CN108428369A (en) * | 2018-03-22 | 2018-08-21 | 大连海事大学 | A kind of information of vehicles processing system |
| CN108974001A (en) * | 2018-05-25 | 2018-12-11 | 郑州思达科锐网络科技有限公司 | A kind of automatic driving vehicle is overtaken other vehicles control method and system |
| CN109501799A (en) * | 2018-10-29 | 2019-03-22 | 江苏大学 | A kind of dynamic path planning method under the conditions of car networking |
| CN109910792A (en) * | 2019-03-08 | 2019-06-21 | 苏州工业园区职业技术学院 | A kind of automatic Pilot electric vehicle high speed lane change control system |
| CN110033625A (en) * | 2019-03-27 | 2019-07-19 | 刘瑞 | Follow the pilotless automobile intelligent networking system of vehicle interaction priority rules |
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| CN107016878A (en) * | 2017-03-28 | 2017-08-04 | 中国人民解放军装甲兵工程学院 | A kind of car networking system |
| CN107264524B (en) * | 2017-05-17 | 2020-01-24 | 吉利汽车研究院（宁波）有限公司 | Intelligent lane changing auxiliary system and intelligent lane changing auxiliary method based on data fusion |
| CN107264524A (en) * | 2017-05-17 | 2017-10-20 | 吉利汽车研究院（宁波）有限公司 | Intelligent lane change accessory system and intelligent lane change householder method based on data fusion |
| CN113460051A (en) * | 2017-12-28 | 2021-10-01 | 北京百度网讯科技有限公司 | Cooperative lane change control method, device and equipment |
| CN108198460A (en) * | 2018-02-26 | 2018-06-22 | 周姣 | A kind of Vehicular intelligent lane change method and vehicle |
| CN108428369A (en) * | 2018-03-22 | 2018-08-21 | 大连海事大学 | A kind of information of vehicles processing system |
| CN110401930A (en) * | 2018-04-24 | 2019-11-01 | 北京华田汽车科技有限公司 | Holographic streetscape Real-Time Sharing framework |
| CN108974001A (en) * | 2018-05-25 | 2018-12-11 | 郑州思达科锐网络科技有限公司 | A kind of automatic driving vehicle is overtaken other vehicles control method and system |
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| CN109910792A (en) * | 2019-03-08 | 2019-06-21 | 苏州工业园区职业技术学院 | A kind of automatic Pilot electric vehicle high speed lane change control system |
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| CN111452789A (en) * | 2020-04-07 | 2020-07-28 | 北京汽车集团越野车有限公司 | Automatic driving overtaking control method and system |
| CN111942405A (en) * | 2020-09-24 | 2020-11-17 | 北京百度网讯科技有限公司 | Vehicle control method, vehicle control device, vehicle, electronic device, and storage medium |
| CN111942405B (en) * | 2020-09-24 | 2021-10-15 | 北京百度网讯科技有限公司 | Vehicle control method, vehicle control device, vehicle, electronic device, and storage medium |
| US11827224B2 (en) | 2020-09-24 | 2023-11-28 | Beijing Baidu Netcom Science Technology Co., Ltd. | Vehicle control method and apparatus, vehicle, and storage medium |
| WO2023078291A1 (en) * | 2021-11-03 | 2023-05-11 | 中移(上海)信息通信科技有限公司 | Path switching method and apparatus, electronic device, storage medium and program product |
| CN116424322A (en) * | 2023-03-13 | 2023-07-14 | 东南大学 | Vehicle control method, control device, vehicle and storage medium |
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