CN109910792A - A kind of automatic Pilot electric vehicle high speed lane change control system - Google Patents
A kind of automatic Pilot electric vehicle high speed lane change control system Download PDFInfo
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- CN109910792A CN109910792A CN201910174128.2A CN201910174128A CN109910792A CN 109910792 A CN109910792 A CN 109910792A CN 201910174128 A CN201910174128 A CN 201910174128A CN 109910792 A CN109910792 A CN 109910792A
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Abstract
The invention discloses a kind of automatic Pilot electric vehicle high speed lane change control systems, comprising: vehicle-mounted main control unit, central processing unit, vehicle-mounted sensing unit, network communication unit.Through the above way, automatic Pilot electric vehicle high speed lane change control system of the present invention, the information such as acceleration, speed, the position of vehicle-mounted sensing unit real-time monitoring vehicle of vehicle, vehicle-mounted main control unit calculates surrounding traffic environmental state information, handles, after analysis, generate final Driving Decision-making, and vehicle driving operation control instruction is issued to central processing unit, state of motion of vehicle changes, other all vehicles being sent in communication range simultaneously have good efficiency, homogenieity, safety and comfort.
Description
Technical field
The present invention relates to electric car fields, more particularly to a kind of automatic Pilot electric vehicle high speed lane change control system.
Background technique
On a highway when driving, lane-change behavior is main driving behavior to vehicle, and lane-change behavior is in the vehicle to around
Speed, after a series of analysis of traffic environments such as spacing and road occupation situation, traffic administration, drive mesh to reach expectation
The driving behavior for sailing out of this lane change adjacent lane marked and taken；Transverse direction on the one hand vehicle needs to complete lane-change needed for is transported
It moves, on the other hand being closed with speeding between preceding guide-car on needing consideration and former lane, the target lane lane Liang Ge in longitudinal movement
System, and to the influence behind former lane, target lane with vehicle, radical, unreasonable lane-change is to traffic delay and driving safety
There is significant impact.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of automatic Pilot electric vehicle high speed lane change control systems.
In order to solve the above technical problems, one technical scheme adopted by the invention is that:
There is provided a kind of automatic Pilot electric vehicle high speed lane change control system, comprising: vehicle-mounted main control unit, central processing unit, vehicle
Carry sensing unit, network communication unit, the vehicle movement shape that the vehicle-mounted main control unit is detected according to vehicle-mounted sensing unit
The surrounding traffic environmental information of state information and network communication unit transmission is made and is transmitted to central processing list under vehicle control instruction
Member；The central processing unit executes the vehicle control instruction of vehicle-mounted main control unit, implements the acceleration of vehicle, braking, turns to, patrols
Boat；The vehicle-mounted sensing unit detects the kinematic parameter of vehicle itself and Adjacent vehicles by onboard sensor；The network is logical
Believe unit in the transmission of the status information and control information of interior all electric appliances and electronic unit, vehicle and communication range
Surrounding vehicles carry out information exchange.
In a preferred embodiment of the present invention, the vehicle-mounted main control unit includes that master controller, CAN communication module, serial ports are logical
Believe module, power supply and protection circuit module.
In a preferred embodiment of the present invention, the central processing unit bottom control unit includes electric stabilizing system
Control module, automatic transmission control module, electric power steering control module, braking and drive control module.
In a preferred embodiment of the present invention, the onboard sensor includes vehicle-mounted inertial sensor, wheel steering biography
Sensor, accelerator pedal position sensor.
In a preferred embodiment of the present invention, the network communication unit includes that interior communication unit and vehicle environmental are logical
Believe unit.
In a preferred embodiment of the present invention, the interior communication unit includes CAN bus.
In a preferred embodiment of the present invention, the vehicle environmental communication unit receives the surrounding vehicles in communication range
Transmit itself speed, acceleration, position and expectation Driving Decision-making.
In a preferred embodiment of the present invention, the vehicle-mounted main control unit is according to displacement state parameter and surrounding vehicle
Motion state parameters, judge whether there is lane-change demand and whether lane-change are feasible, if having lane-change demand and lane-change is feasible, it would be desirable to
Lane-change decision is sent to all vehicles in communication range, while receiving the expectation Driving Decision-making of other vehicles communication range Nei.
In a preferred embodiment of the present invention, there are the two cars for influencing each other or interfering in the expectation lane-change decision
The method that game theory is respectively adopted, re-starts Driving Decision-making.
In a preferred embodiment of the present invention, the displacement state parameter and surrounding vehicles motion state parameters with
Fixed time interval is updated.
The beneficial effects of the present invention are: provide a kind of automatic Pilot electric vehicle high speed lane change control system, vehicle it is vehicle-mounted
The information such as acceleration, speed, the position of sensing unit real-time monitoring vehicle, vehicle-mounted main control unit believe surrounding traffic ambient condition
Breath is calculated, is handled, after analysis, generates final Driving Decision-making, and issue vehicle driving operation control to central processing unit and refer to
It enables, other all vehicles that state of motion of vehicle changes, while being sent in communication range, with good efficiency,
Matter, safety and comfort.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is the structural schematic diagram of one preferred embodiment of automatic Pilot electric vehicle high speed lane change control system of the invention.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Referring to Fig. 1, the embodiment of the present invention includes:
A kind of automatic Pilot electric vehicle high speed lane change control system, comprising: vehicle-mounted main control unit, central processing unit, vehicle-mounted biography
Feel unit, network communication unit.
The state of motion of vehicle information and network communication unit that vehicle-mounted main control unit is detected according to vehicle-mounted sensing unit
The surrounding traffic environmental information of transmission, makes and is transmitted to central processing unit under vehicle control instruction, and vehicle-mounted main control unit includes master
Controller, CAN communication module, serial communication modular, power supply and protection circuit module.
Central processing unit executes the vehicle control instruction of vehicle-mounted main control unit, implement the acceleration of vehicle, braking, steering,
Cruise, central processing unit bottom control unit includes electric stabilizing system control module, automatic transmission control module, electronic
Power-assisted steering control module, braking and drive control module.
Vehicle-mounted sensing unit detects the kinematic parameter of vehicle itself and Adjacent vehicles, onboard sensor by onboard sensor
Including vehicle-mounted inertial sensor, wheel steering sensor, accelerator pedal position sensor.
Vehicle-mounted inertial sensor can monitor the longitudinal acceleration, transverse acceleration and yaw angle of vehicle；Wheel steering
Sensor can monitor the deflection angle of wheel, and pedal position can be monitored in real time in throttle (or brake) pedal position sensor,
According to the position of wheel deflection angle and throttle (or brake) pedal, longitudinal acceleration, the transverse direction for obtaining vehicle also may be calculated
Acceleration and yaw angle；Vehicle-mounted sensing unit realizes information sharing by CAN bus technology, compare through central processing unit,
Similarly the vehicle of degree of precision also can be obtained in analysis, processing and fusion, the vehicle acceleration measured value that can get degree of precision
The vehicles displacement measured value of state such as speed, position；It, can be by radar, micro- for the relative motion relation with Adjacent vehicles
The sensors such as wave, video directly detect, for example, using the sensors such as radar can be monitored in real time vehicle itself respectively with it is leading
Vehicle, after with space headway, relative velocity of vehicle etc..
According to the vehicle position of vehicle-mounted sensing unit acquisition, speed, acceleration, and the opposite fortune with Adjacent vehicles
The information such as dynamic relationship, facilitate vehicle and make reasonable lane-change decision.
Also tested sensor rotation accordingly is driven while the motor rotation of wheel, thus inputs target velocity curve
To tested sensor, tested sensor exports the rotation information measured by way of analog signal to be connect to velocity sensor
Mouth unit；Analog signal is converted velocity sensor information process unit number by hardware circuit in speed sensor interface unit
Word signal, the frequency for passing through the calculating digital signal by these digital signals of central processing unit for processing, central processing unit
It calculates currently to be tested with the channel signal frequency detection range that tests the speed with the wheel footpath value of square wave number, and the tested wheel of combination and sense
Wheel movement speed and mileage measured by device wherein wheel footpath value and test the speed channel signal frequency detection range by wheel information
Processing unit is sent to velocity sensor information process unit in the form of message.
Transmission, vehicle of the network communication unit for the status information and control information of interior all electric appliances and electronic unit
Information exchange is carried out with the surrounding vehicles in communication range, network communication unit includes interior communication unit and vehicle environmental communication
Unit, interior communication unit include CAN bus, and the surrounding vehicles that vehicle environmental communication unit receives in communication range transmit itself
Speed, acceleration, position and expectation Driving Decision-making.
Vehicle-mounted main control unit judges whether there is lane-change according to displacement state parameter and surrounding vehicles motion state parameters
Whether demand and lane-change are feasible, if having lane-change demand and lane-change is feasible, it would be desirable to which lane-change decision, which is sent in communication range, to be owned
Vehicle, while receiving the expectation Driving Decision-making of other vehicles communication range Nei；It influences each other or does it is expected that lane-change decision exists
The method that game theory is respectively adopted in the two cars disturbed re-starts Driving Decision-making, such as collaboration lane-change or non-lane-change；Displacement
State parameter and surrounding vehicles motion state parameters are updated at regular intervals.
The beneficial effect of automatic Pilot electric vehicle high speed lane change control system of the present invention is: it is electronic to provide a kind of automatic Pilot
Overall height speed lane change control system, the information such as acceleration, speed, position of vehicle-mounted sensing unit real-time monitoring vehicle of vehicle, vehicle
It carries main control unit to calculate surrounding traffic environmental state information, processing, after analysis, generate final Driving Decision-making, and to center
Processing unit issues vehicle driving operation control instruction, and state of motion of vehicle changes, while being sent in communication range
Other all vehicles have good efficiency, homogenieity, safety and comfort.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (10)
1. a kind of automatic Pilot electric vehicle high speed lane change control system characterized by comprising vehicle-mounted main control unit, centre
Manage unit, vehicle-mounted sensing unit, network communication unit, the vehicle that the vehicle-mounted main control unit is detected according to vehicle-mounted sensing unit
The surrounding traffic environmental information of movement state information and network communication unit transmission is made and is transmitted to center under vehicle control instruction
Processing unit；The central processing unit executes the vehicle control instruction of vehicle-mounted main control unit, implement the acceleration of vehicle, braking,
It turns to, cruise；The vehicle-mounted sensing unit detects the kinematic parameter of vehicle itself and Adjacent vehicles by onboard sensor；It is described
Network communication unit is for interior all electric appliances and the transmission of the status information of electronic unit and control information, vehicle and communicates model
Surrounding vehicles in enclosing carry out information exchange.
2. automatic Pilot electric vehicle high speed lane change control system according to claim 1, which is characterized in that the vehicle-mounted master
Control unit includes master controller, CAN communication module, serial communication modular, power supply and protection circuit module.
3. automatic Pilot electric vehicle high speed lane change control system according to claim 1, which is characterized in that the centre
Managing unit bottom control unit includes electric stabilizing system control module, automatic transmission control module, electric power steering control
Molding block, braking and drive control module.
4. automatic Pilot electric vehicle high speed lane change control system according to claim 1, which is characterized in that the vehicle-mounted biography
Sensor includes vehicle-mounted inertial sensor, wheel steering sensor, accelerator pedal position sensor.
5. automatic Pilot electric vehicle high speed lane change control system according to claim 1, which is characterized in that the network is logical
Believe that unit includes interior communication unit and vehicle environmental communication unit.
6. automatic Pilot electric vehicle high speed lane change control system according to claim 5, which is characterized in that described interior logical
Believe that unit includes CAN bus.
7. automatic Pilot electric vehicle high speed lane change control system according to claim 5, which is characterized in that the vehicle ring
The surrounding vehicles that border communication unit receives in communication range transmit speed, acceleration, position and the expectation Driving Decision-making of itself.
8. automatic Pilot electric vehicle high speed lane change control system according to claim 1, which is characterized in that the vehicle-mounted master
Unit is controlled according to displacement state parameter and surrounding vehicles motion state parameters, whether judges whether there is lane-change demand and lane-change
It is feasible, if having lane-change demand and lane-change is feasible, it would be desirable to which lane-change decision is sent to all vehicles in communication range, while receiving logical
Believe the expectation Driving Decision-making of other vehicles in range.
9. automatic Pilot electric vehicle high speed lane change control system according to claim 8, which is characterized in that the expectation is changed
There is the method that game theory is respectively adopted in the two cars for influencing each other or interfering in road decision, re-start Driving Decision-making.
10. automatic Pilot electric vehicle high speed lane change control system according to claim 8, which is characterized in that it is described itself
Motion state parameters and surrounding vehicles motion state parameters are updated at regular intervals.
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| CN201910174128.2A CN109910792B (en) | 2019-03-08 | 2019-03-08 | High-speed lane-changing control system of automatic driving electric vehicle |
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| CN201910174128.2A CN109910792B (en) | 2019-03-08 | 2019-03-08 | High-speed lane-changing control system of automatic driving electric vehicle |
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Cited By (2)
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| CN110362910A (en) * | 2019-07-05 | 2019-10-22 | 西南交通大学 | Automatic driving vehicle lane-change conflict coordination method for establishing model based on game theory |
| CN114495543A (en) * | 2022-01-26 | 2022-05-13 | 广州文远知行科技有限公司 | Method and device for identifying unreasonable lane changing behavior of vehicle and related equipment |
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| CN110362910A (en) * | 2019-07-05 | 2019-10-22 | 西南交通大学 | Automatic driving vehicle lane-change conflict coordination method for establishing model based on game theory |
| CN110362910B (en) * | 2019-07-05 | 2021-07-16 | 西南交通大学 | Game theory-based automatic driving vehicle lane change conflict coordination model establishment method |
| CN114495543A (en) * | 2022-01-26 | 2022-05-13 | 广州文远知行科技有限公司 | Method and device for identifying unreasonable lane changing behavior of vehicle and related equipment |
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|---|---|
| CN109910792B (en) | 2022-04-22 |
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