CN109910792B - High-speed lane-changing control system of automatic driving electric vehicle - Google Patents
High-speed lane-changing control system of automatic driving electric vehicle Download PDFInfo
- Publication number
- CN109910792B CN109910792B CN201910174128.2A CN201910174128A CN109910792B CN 109910792 B CN109910792 B CN 109910792B CN 201910174128 A CN201910174128 A CN 201910174128A CN 109910792 B CN109910792 B CN 109910792B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- control system
- speed
- unit
- lane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a high-speed lane-changing control system of an automatic driving electric vehicle, which comprises: the system comprises a vehicle-mounted main control unit, a central processing unit, a vehicle-mounted sensing unit and a network communication unit. Through the mode, the automatic driving electric vehicle high-speed lane changing control system has the advantages that the vehicle-mounted sensing unit of the vehicle monitors the information of the acceleration, the speed, the position and the like of the vehicle in real time, the vehicle-mounted main control unit generates the final driving decision after calculating, processing and analyzing the state information of the surrounding traffic environment, sends a vehicle driving operation control instruction to the central processing unit, changes the motion state of the vehicle and simultaneously sends the vehicle driving operation control instruction to all other vehicles in a communication range, and the automatic driving electric vehicle high-speed lane changing control system has good efficiency, homogeneity, safety and comfort.
Description
Technical Field
The invention relates to the field of electric automobiles, in particular to a high-speed lane change control system of an automatic driving electric automobile.
Background
When a vehicle runs on an expressway, the lane changing behavior is a main driving behavior, and the lane changing behavior is a driving behavior of changing the vehicle from the lane to an adjacent lane to achieve an expected driving target after analyzing a series of traffic environments such as the speed, the distance, the road use condition, traffic management and the like of surrounding vehicles; the vehicle needs to complete the transverse movement required by lane changing on one hand, and needs to consider the following relation with the leading vehicles on the original lane and the target lane and the influence on the following vehicles behind the original lane and the target lane in the longitudinal movement on the other hand, and the radical and unreasonable lane changing has great influence on the driving delay and the driving safety.
Disclosure of Invention
The invention mainly solves the technical problem of providing a high-speed lane change control system of an automatic driving electric vehicle.
In order to solve the technical problems, the invention adopts a technical scheme that:
provided is a high-speed lane change control system for an autonomous electric vehicle, including: the vehicle-mounted main control unit makes a vehicle control instruction and transmits the vehicle control instruction to the central processing unit according to vehicle motion state information detected by the vehicle-mounted sensing unit and surrounding traffic environment information transmitted by the network communication unit; the central processing unit executes a vehicle control command of the vehicle-mounted main control unit and performs acceleration, braking, steering and cruising of the vehicle; the vehicle-mounted sensing unit detects the motion parameters of the vehicle and the adjacent vehicles through a vehicle-mounted sensor; the network communication unit is used for transmitting state information and control information of all electric appliances and the electronic unit in the vehicle and carrying out information interaction between the vehicle and surrounding vehicles in a communication range.
In a preferred embodiment of the present invention, the vehicle-mounted main control unit includes a main controller, a CAN communication module, a serial communication module, and a power supply and protection circuit module.
In a preferred embodiment of the present invention, the cpu bottom layer control unit includes an electronic stability system control module, an automatic transmission control module, an electric power steering control module, and a braking and driving control module.
In a preferred embodiment of the invention, the vehicle-mounted sensors comprise a vehicle-mounted inertial sensor, a wheel steering sensor and an accelerator pedal position sensor.
In a preferred embodiment of the present invention, the network communication unit includes an in-vehicle communication unit and a vehicle environment communication unit.
In a preferred embodiment of the present invention, the in-vehicle communication unit includes a CAN bus.
In a preferred embodiment of the invention, the vehicle environment communication unit receives the speed, acceleration, position and desired driving decision of the surrounding vehicle transmitting itself within the communication range.
In a preferred embodiment of the present invention, the vehicle-mounted main control unit determines whether there is a lane change demand and whether lane change is feasible according to the motion state parameter of the vehicle and the motion state parameter of surrounding vehicles, and sends an expected lane change decision to all vehicles in the communication range and receives expected driving decisions of other vehicles in the communication range if there is a lane change demand and lane change is feasible.
In a preferred embodiment of the present invention, two vehicles which are expected to have mutual influence or interference in the channel change decision respectively adopt a method of game theory to make driving decision again.
In a preferred embodiment of the present invention, the self-moving state parameter and the surrounding vehicle-moving state parameter are updated at regular time intervals.
The invention has the beneficial effects that: the vehicle-mounted sensing unit of the vehicle monitors information such as acceleration, speed and position of the vehicle in real time, the vehicle-mounted main control unit generates a final driving decision after calculating, processing and analyzing surrounding traffic environment state information, and sends a vehicle driving operation control instruction to the central processing unit, the motion state of the vehicle is changed, and the vehicle-mounted main control unit simultaneously sends the vehicle driving operation control instruction to all other vehicles in a communication range, so that the system has good efficiency, homogeneity, safety and comfort.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic structural diagram of a high-speed lane change control system of an autonomous electric vehicle according to a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.
Referring to fig. 1, an embodiment of the present invention includes:
a high-speed lane-changing control system of an automatic driving electric vehicle comprises: the system comprises a vehicle-mounted main control unit, a central processing unit, a vehicle-mounted sensing unit and a network communication unit.
The vehicle-mounted main control unit makes a vehicle control instruction and transmits the vehicle control instruction to the central processing unit according to vehicle motion state information detected by the vehicle-mounted sensing unit and surrounding traffic environment information transmitted by the network communication unit, and the vehicle-mounted main control unit comprises a main controller, a CAN communication module, a serial communication module, a power supply and a protection circuit module.
The central processing unit executes a vehicle control instruction of the vehicle-mounted main control unit to accelerate, brake, steer and cruise the vehicle, and the bottom layer control unit of the central processing unit comprises an electronic stability system control module, an automatic transmission control module, an electric power steering control module and a brake and drive control module.
The vehicle-mounted sensing unit detects motion parameters of the vehicle and adjacent vehicles through a vehicle-mounted sensor, and the vehicle-mounted sensor comprises a vehicle-mounted inertial sensor, a wheel steering sensor and an accelerator pedal position sensor.
The vehicle-mounted inertial sensor can monitor the longitudinal acceleration, the transverse acceleration and the yaw angle of the vehicle; the wheel steering sensor can monitor the deflection angle of the wheel, the accelerator (or brake) pedal position sensor can monitor the pedal position in real time, and the longitudinal acceleration, the transverse acceleration and the yaw angle of the vehicle can be obtained through calculation according to the wheel deflection angle and the position of the accelerator (or brake) pedal; the vehicle-mounted sensing unit realizes information sharing through a CAN bus technology, and CAN obtain a vehicle acceleration measurement value with higher precision through comparison, analysis, processing and fusion of the central processing unit, and CAN also obtain vehicle self motion state measurement values such as vehicle speed, position and the like with higher precision in the same way; for the relative motion relation with the adjacent vehicle, the relative motion relation can be directly detected through sensors such as radar, microwave and video, for example, the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle and the relative speed between the vehicle and the front vehicle and the rear vehicle can be monitored in real time by utilizing the sensors such as the radar.
According to the information such as the position, the speed and the acceleration of the vehicle, the relative motion relation with the adjacent vehicle and the like, which are obtained by the vehicle-mounted sensing unit, the lane change decision of the vehicle is reasonably made.
The motor of the wheel rotates and simultaneously drives the corresponding measured sensor to rotate, so that a target speed curve is input to the measured sensor, and the measured sensor outputs measured rotation information to the speed sensor interface unit in an analog signal mode; a hardware circuit in the speed sensor interface unit converts an analog signal into a digital signal of a speed sensor information processing unit, the digital signals are processed by a central processing unit, the central processing unit calculates the frequency and the number of square waves of the digital signal and calculates the wheel movement speed and the mileage measured by the current measured sensor by combining the wheel diameter value of the measured wheel and the speed measuring channel signal frequency detection range, wherein the wheel diameter value and the speed measuring channel signal frequency detection range are sent to the speed sensor information processing unit by the wheel information processing unit in a message mode.
The network communication unit is used for transmitting state information and control information of all electric appliances and electronic units in the vehicle and carrying out information interaction between the vehicle and surrounding vehicles in a communication range, the network communication unit comprises an in-vehicle communication unit and a vehicle environment communication unit, the in-vehicle communication unit comprises a CAN bus, and the vehicle environment communication unit receives speed, acceleration, position and expected driving decision of the surrounding vehicles in the communication range and transmits the speed, acceleration, position and expected driving decision.
The vehicle-mounted main control unit judges whether a lane change requirement exists or not and whether lane change is feasible or not according to the motion state parameters of the vehicle and the motion state parameters of surrounding vehicles, and if the lane change requirement exists and the lane change is feasible, an expected lane change decision is sent to all vehicles in a communication range, and expected driving decisions of other vehicles in the communication range are received; two vehicles expecting to have mutual influence or interference in the track changing decision respectively adopt a game theory method to carry out driving decision again, such as collaborative track changing or non-track changing and the like; the self-motion state parameter and the surrounding vehicle motion state parameter are updated at fixed time intervals.
The high-speed lane change control system of the automatic driving electric vehicle has the advantages that: the vehicle-mounted sensing unit of the vehicle monitors information such as acceleration, speed and position of the vehicle in real time, the vehicle-mounted main control unit generates a final driving decision after calculating, processing and analyzing surrounding traffic environment state information, and sends a vehicle driving operation control instruction to the central processing unit, the motion state of the vehicle is changed, and the vehicle-mounted main control unit simultaneously sends the vehicle driving operation control instruction to all other vehicles in a communication range, so that the system has good efficiency, homogeneity, safety and comfort.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A high-speed lane-changing control system of an automatic driving electric vehicle is characterized by comprising: the vehicle-mounted main control unit makes a vehicle control instruction and transmits the vehicle control instruction to the central processing unit according to vehicle motion state information detected by the vehicle-mounted sensing unit and surrounding traffic environment information transmitted by the network communication unit; the central processing unit executes a vehicle control command of the vehicle-mounted main control unit and performs acceleration, braking, steering and cruising of the vehicle; the vehicle-mounted sensing unit detects the motion parameters of the vehicle and the adjacent vehicles through a vehicle-mounted sensor; the network communication unit is used for transmitting state information and control information of all electric appliances and electronic units in a vehicle and carrying out information interaction between the vehicle and surrounding vehicles in a communication range, the vehicle-mounted main control unit judges whether a lane change requirement exists or not and whether the lane change is feasible or not according to self motion state parameters and surrounding vehicle motion state parameters, if the lane change requirement exists and the lane change is feasible, an expected lane change decision is sent to all vehicles in the communication range, an expected driving decision of other vehicles in the communication range is received at the same time, two vehicles which have mutual influence or interference in the expected lane change decision respectively adopt a game theory method to carry out driving decision again, and the self motion state parameters and the surrounding vehicle motion state parameters are updated at fixed time intervals.
2. The automatic driving electric vehicle high-speed lane changing control system according to claim 1, wherein the vehicle-mounted main control unit comprises a main controller, a CAN communication module, a serial communication module, and a power supply and protection circuit module.
3. The automatic driving electric vehicle high-speed lane changing control system according to claim 1, wherein the central processing unit bottom layer control unit comprises an electronic stability system control module, an automatic transmission control module, an electric power steering control module, and a braking and driving control module.
4. The automatic driving electric vehicle high speed lane changing control system of claim 1, wherein the vehicle mounted sensors comprise a vehicle mounted inertial sensor, a wheel steering sensor, an accelerator pedal position sensor.
5. The autonomous-capable electric vehicle high-speed lane-changing control system of claim 1, wherein the network communication unit comprises an in-vehicle communication unit and a vehicle environment communication unit.
6. The autonomous-capable electric vehicle high-speed lane-change control system of claim 5, wherein the in-vehicle communication unit comprises a CAN bus.
7. The autonomous-capable electric vehicle lane change high speed control system of claim 5, wherein the vehicle environment communication unit receives surrounding vehicles within communication range to communicate their own speed, acceleration, position and desired driving decision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174128.2A CN109910792B (en) | 2019-03-08 | 2019-03-08 | High-speed lane-changing control system of automatic driving electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174128.2A CN109910792B (en) | 2019-03-08 | 2019-03-08 | High-speed lane-changing control system of automatic driving electric vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109910792A CN109910792A (en) | 2019-06-21 |
| CN109910792B true CN109910792B (en) | 2022-04-22 |
Family
ID=66963821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910174128.2A Active CN109910792B (en) | 2019-03-08 | 2019-03-08 | High-speed lane-changing control system of automatic driving electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109910792B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114495543B (en) * | 2022-01-26 | 2023-03-24 | 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329238A (en) * | 2015-12-04 | 2016-02-17 | 北京航空航天大学 | Self-driving car lane changing control method based on monocular vision |
| WO2016147623A1 (en) * | 2015-03-18 | 2016-09-22 | 日本電気株式会社 | Driving control device, driving control method, and vehicle-to-vehicle communication system |
| CN205910857U (en) * | 2016-07-13 | 2017-01-25 | 中冶京诚工程技术有限公司 | Driverless automobile reverse overtaking lane-changing control system |
| CN108011947A (en) * | 2017-11-30 | 2018-05-08 | 湖北汽车工业学院 | A kind of vehicle cooperative formula formation driving system |
| CN109109862A (en) * | 2017-06-23 | 2019-01-01 | 上海汽车集团股份有限公司 | A kind of control method and device of the automatic lane-change of vehicle |
| CN109131162A (en) * | 2018-09-26 | 2019-01-04 | 北京子歌人工智能科技有限公司 | A kind of driving assistance system based on artificial intelligence |
Family Cites Families (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005050662A1 (en) * | 2005-10-20 | 2007-04-26 | Volkswagen Ag | Expressway assistance for semi autonomous driving for motor vehicle, has steering assistance to which additional steering moment of preset dimension and duration is applied in right-hand traffic to left and left-hand traffic to right |
| DE102007060862B4 (en) * | 2007-12-18 | 2021-08-12 | Man Truck & Bus Se | Emergency braking system |
| CN103065501B (en) * | 2012-12-14 | 2014-08-06 | 清华大学 | Automobile lane changing early-warning method and lane changing early-warning system |
| US9096267B2 (en) * | 2013-01-21 | 2015-08-04 | GM Global Technology Operations LLC | Efficient data flow algorithms for autonomous lane changing, passing and overtaking behaviors |
| DE102015214689A1 (en) * | 2014-08-04 | 2016-02-04 | Continental Teves Ag & Co. Ohg | System for automated cooperative driving |
| CN104210490A (en) * | 2014-09-16 | 2014-12-17 | 成都衔石科技有限公司 | Automatic lane changing following vehicle team |
| DE102014220324A1 (en) * | 2014-10-07 | 2016-06-30 | Continental Automotive Gmbh | Head-up display for monitoring a traffic area |
| CN204196777U (en) * | 2014-10-30 | 2015-03-11 | 长城汽车股份有限公司 | Drive road conditions control system for identifying and vehicle |
| CN204557218U (en) * | 2015-05-15 | 2015-08-12 | 山东省计算中心（国家超级计算济南中心） | Based on the electric automobile automated driving system of Beidou navigation |
| CN104820424B (en) * | 2015-05-15 | 2017-12-01 | 山东省计算中心（国家超级计算济南中心） | Electric automobile automated driving system and its control method based on Beidou navigation |
| CN105015545B (en) * | 2015-07-03 | 2018-06-26 | 内蒙古麦酷智能车技术有限公司 | A kind of autonomous lane change decision-making technique of pilotless automobile |
| CN105912814A (en) * | 2016-05-05 | 2016-08-31 | 苏州京坤达汽车电子科技有限公司 | Lane change decision model of intelligent drive vehicle |
| US10077050B2 (en) * | 2016-05-24 | 2018-09-18 | GM Global Technology Operations LLC | Automated driving system for evaluating lane cut-out and method of using the same |
| CN106515577B (en) * | 2016-11-25 | 2020-05-05 | 长安大学 | Device and method for reducing false alarm rate of channel change early warning |
| CN106530833A (en) * | 2016-12-29 | 2017-03-22 | 江苏大学 | Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof |
| CN106940933B (en) * | 2017-03-08 | 2019-05-24 | 北京理工大学 | A kind of intelligent vehicle decision lane-change method based on intelligent transportation system |
| CN107139930A (en) * | 2017-04-27 | 2017-09-08 | 广州方铭交互信息科技有限公司 | A kind of automobile lane-change DAS (Driver Assistant System) and method based on HUD new line Display Techniques |
| CN107215339B (en) * | 2017-06-26 | 2019-08-23 | 地壳机器人科技有限公司 | The lane-change control method and device of automatic driving vehicle |
| CN108225364B (en) * | 2018-01-04 | 2021-07-06 | 吉林大学 | Unmanned automobile driving task decision making system and method |
| CN108919795B (en) * | 2018-06-01 | 2023-07-25 | 中国北方车辆研究所 | Automatic driving automobile lane change decision method and device |
| CN108583432B (en) * | 2018-07-05 | 2023-11-07 | 广东机电职业技术学院 | Intelligent A-pillar dead zone early warning device and method based on image recognition technology |
| CN108829087B (en) * | 2018-07-19 | 2019-09-10 | 山东省科学院自动化研究所 | A kind of intelligent test system of autonomous driving vehicle |
| CN109017788B (en) * | 2018-08-09 | 2021-02-12 | 北京智行者科技有限公司 | Lane changing control method |
-
2019
- 2019-03-08 CN CN201910174128.2A patent/CN109910792B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016147623A1 (en) * | 2015-03-18 | 2016-09-22 | 日本電気株式会社 | Driving control device, driving control method, and vehicle-to-vehicle communication system |
| CN105329238A (en) * | 2015-12-04 | 2016-02-17 | 北京航空航天大学 | Self-driving car lane changing control method based on monocular vision |
| CN205910857U (en) * | 2016-07-13 | 2017-01-25 | 中冶京诚工程技术有限公司 | Driverless automobile reverse overtaking lane-changing control system |
| CN109109862A (en) * | 2017-06-23 | 2019-01-01 | 上海汽车集团股份有限公司 | A kind of control method and device of the automatic lane-change of vehicle |
| CN108011947A (en) * | 2017-11-30 | 2018-05-08 | 湖北汽车工业学院 | A kind of vehicle cooperative formula formation driving system |
| CN109131162A (en) * | 2018-09-26 | 2019-01-04 | 北京子歌人工智能科技有限公司 | A kind of driving assistance system based on artificial intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109910792A (en) | 2019-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10424127B2 (en) | Controller architecture for monitoring health of an autonomous vehicle | |
| US10429848B2 (en) | Automatic driving system | |
| US10077050B2 (en) | Automated driving system for evaluating lane cut-out and method of using the same | |
| US9845109B2 (en) | Continuous estimation of surface friction coefficient based on EPS and vehicle models | |
| CN106043171B (en) | A kind of distributed electric automobile intellectuality In-vehicle networking terminal platform and brake control method | |
| EP3500940A1 (en) | Automated connected vehicle control system architecture | |
| US11827235B1 (en) | Adjusting timing of actuation commands to account for fixed and variable delays in autonomous driving control of vehicles | |
| US20190066406A1 (en) | Method and apparatus for monitoring a vehicle | |
| CN103204180A (en) | Self-adaptive balance steering control method of double-hub motor driving system | |
| WO2011160255A1 (en) | Vehicle procession control through a traffic intersection | |
| CN109910792B (en) | High-speed lane-changing control system of automatic driving electric vehicle | |
| WO2024146195A1 (en) | Automatic operation system for electronic guided rubber-tyred tram | |
| CN113525373A (en) | Lane changing control system and method for vehicle | |
| Murthy et al. | Braking in close following platoons: The law of the weakest | |
| JP2023522657A (en) | Chassis-by-wire cyber-physical system and control method in smart traffic environment | |
| CN112519777B (en) | Control method of automatic driving fleet, vehicle-mounted device, vehicle and system | |
| CN109774709B (en) | Vehicle linear control braking auxiliary safety system under emergency lane change working condition and control method thereof | |
| CN117400930B (en) | Risk field-based intelligent network-connected automobile roundabout scene risk degree evaluation method | |
| KR102552764B1 (en) | System and method for performing parallel parking maneuvers with single side braking | |
| CN111688686A (en) | Car following control method, device and system for automatically driving motorcade and vehicle | |
| CN112824187B (en) | Driving assistance system, and deceleration control unit and method thereof | |
| EP3798075B1 (en) | A method for driving a vehicle platoon | |
| CN209813973U (en) | Vehicle brake-by-wire auxiliary safety system under emergency lane change working condition | |
| CN113942505B (en) | Vehicle self-adaptive cruising algorithm | |
| CN113085568B (en) | Control system of two-way ferry vehicle and two-way ferry vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |