CN106530833A - Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof - Google Patents

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

An intelligent lane-changing system for autonomous vehicles based on Internet of Vehicles and its control method

technical field

The invention belongs to the field of intelligent transportation, and in particular relates to an intelligent lane-changing system for an automatic driving vehicle based on the Internet of Vehicles and a control method thereof.

Background technique

With the development of modern automobile technology, automobiles are owned by more and more people. Although it brings great convenience to people's life, there are frequent traffic accidents that follow. In all kinds of traffic accidents, the driver cannot accurately perceive the driving conditions of the surrounding vehicles during the lane change and steering process, and forgets to turn on the turn signal, which accounts for a large proportion of the causes of traffic accidents.

Under the background of Made in China 2025 and Industry 4.0, the automobile industry is constantly developing in the direction of intelligence and networking. Smart cars and Internet of Vehicles have become the focus of the automobile industry. At the same time, intelligent transportation is an area where every country is committed to making progress, and it will become an inevitable trend in the development of various transportation systems in the future. Traffic intelligence can prevent traffic accidents and ensure the safety of smart car driving.

Based on the above background, the present invention proposes an intelligent lane-changing system for an automatic driving vehicle based on the Internet of Vehicles and a control method thereof, so as to improve the efficiency and safety of the driving process.

Contents of the invention

The purpose of the present invention is to realize autonomous and safe lane changing of autonomous vehicles on expressways, thereby providing an intelligent lane-changing system for autonomous vehicles based on Internet of Vehicles and a control method thereof.

The present invention adopts following technical scheme:

An intelligent lane-changing system for self-driving cars based on the Internet of Vehicles, including a GPS module, a wireless communication module, a 4G communication module, a steering system, a turn signal and an ECU,

The ECU is respectively connected with the GPS module, the wireless communication module and the 4G communication module, and is respectively used to obtain the accurate position and speed information of the vehicle in real time, the speed information of the surrounding vehicles, and obtain the traffic flow information and parameter information of the surrounding roads through the base station, The ECU comprehensively judges whether overtaking is required according to the acquired information;

The ECU is also connected with the steering system and the turn signals respectively, and the ECU judges whether the lane change process is safe according to the obtained surrounding vehicle speed information, and sends the lane change information and turns on the turn signals to the surrounding vehicles through the wireless communication module; The surrounding road parameter information calculates the required turning angle for steering, and controls the steering system for steering.

Further, the GPS module is arranged on the right rear side of the vehicle, the wireless communication module is arranged on the front and rear sides of the vehicle, the 4G communication module is arranged on the left rear side of the vehicle, and the turn signals are arranged on the four corners of the vehicle.

A control method for an intelligent lane-changing system of an automatic driving vehicle based on the Internet of Vehicles, comprising the following steps:

S1, the GPS module obtains the accurate position and speed information of the vehicle in real time and sends it to the ECU. The 4G communication module obtains the traffic flow information on the left side through the base station in real time and sends it to the ECU. The wireless communication module obtains the vehicle speed information in front in real time and sends it to the ECU. The ECU integrates Judging whether it is necessary to overtake the vehicle in front and change lanes, if it is judged that it is necessary to overtake the vehicle in front, perform step S2, otherwise continue to perform step S1;

S2, the wireless communication module receives the vehicle speed information of the front and rear of the left road and sends it to the ECU, and the ECU judges whether the lane changing process is safe, if it judges that the lane changing process is safe, then execute step S3, otherwise, execute step S1;

S3, the ECU turns on the turn signal, and at the same time uses the wireless communication module to send lane change information to surrounding vehicles;

S4, the 4G communication module obtains road parameter information in real time and sends it to the ECU, and the ECU calculates the required steering angle, and finally the ECU controls the steering system to change lanes according to the calculated steering angle.

Further, the self-driving car in S3 automatically turns on the turn signal, and sends information to the surrounding vehicles through the wireless communication module and obtains the road information of the vehicle through the 4G communication module again to ensure the safety of the lane change process.

The beneficial effects of the present invention are:

1. The present invention utilizes the Internet of Vehicles composed of GPS module, wireless communication module and 4G communication module to realize the whole process of steering and lane change, does not rely on traditional sensors, is more convenient for the design of vehicle structure, reduces cost, and has high reliability, and Not interfered by external environmental factors.

2. The present invention judges whether overtaking is required based on the speed requirements of the vehicle in front and the vehicle on the left side combined with the traffic flow on the left side, not only limited to the slow speed of the vehicle in front, to ensure the reliability of the lane change process; The left lane obtains vehicle information, and then changes lanes after ensuring safety again, effectively ensuring the safety of the lane changing process.

3. During the lane change process, the wireless communication module sends lane change information to surrounding vehicles, reminding other vehicles that the vehicle is changing lanes, preventing emergencies, and improving the safety of the lane change process.

4. During the lane change and steering process, the 4G module obtains road parameter information in real time, calculates the required steering angle through the ECU, and then controls the steering system to change lanes, which improves the intelligence of the lane change process.

Description of drawings

Figure 1 is a structural block diagram of an intelligent lane-changing system for autonomous vehicles based on the Internet of Vehicles;

Fig. 2 is a schematic diagram of the module layout of an intelligent lane change system for an autonomous vehicle based on the Internet of Vehicles;

Fig. 3 is a schematic diagram of vehicle lane change in the present invention;

Fig. 4 is a control flow chart of an intelligent lane-changing system for an autonomous vehicle based on the Internet of Vehicles.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in Figure 1, a kind of structural block diagram of the intelligent lane change system of self-driving car based on Internet of Vehicles, including GPS module 1, wireless communication module 2 (the present invention selects wireless local area network WLAN), 4G communication module 3 (the present invention selects 4G network), steering system 4, turn signals 5 and ECU 6; GPS module 1 is set on the right rear side of the vehicle, wireless communication module 2 is set on both sides of the front and rear of the vehicle, 4G communication module 3 is set on the left rear side of the vehicle, and turn signal lights 5 are set At the four corners of the vehicle, as shown in Figure 2.

The ECU 6 is connected to the GPS module 1, the wireless communication module 2 and the 4G communication module 3 respectively, and is respectively used to obtain the accurate position and speed information of the vehicle in real time, the speed information of the surrounding vehicles, and obtain the traffic flow information and parameters of the surrounding roads through the base station information, the ECU 6 comprehensively judges whether it is necessary to overtake according to the obtained information; the ECU 6 is also connected to the steering system 4 and the turn signal 5 respectively, and the ECU 6 judges whether the lane change process is safe or not according to the obtained vehicle speed information of surrounding vehicles, and passes the wireless communication module 2. Send lane change information to the surrounding vehicles and turn on the turn signal 5; ECU 6 calculates the required steering angle according to the obtained surrounding road parameter information, and controls the steering system 4 to perform steering.

ECU 6 is used for four processes of autonomous lane change decision, lane change safety judgment, lane change angle calculation and lane change steering control. Through the speed information of the vehicle in front received by the wireless communication module 2 and the traffic flow information on the left road obtained by the 4G module 3, it is comprehensively judged whether it is necessary to overtake the vehicle in front; The vehicle speed information of the front and rear vehicles judges whether the lane change process is safe, and sends the lane change information to the surrounding vehicles through the wireless communication module 2 and turns on the turn signal 5; Calculate the required steering angle; during the lane steering control process, the ECU 6 controls the steering system 4 to change lanes according to the calculated steering angle.

As shown in Figure 3, the traffic flow status of an intelligent lane-changing system for autonomous vehicles based on Internet of Vehicles during the lane-changing process. There are also vehicles on the right, and overtaking needs to be overtaken from the left, so vehicles on the right do not affect lane changes; assuming that each vehicle has an Internet of Vehicles system, each vehicle can obtain road traffic information through the base station, and can pass Wireless communication obtains real-time information from surrounding vehicles and feeds back information in real time.

As shown in Figure 4, a control flow chart of an intelligent lane-changing system for autonomous vehicles based on the Internet of Vehicles, including steps:

S1, GPS module 1 obtains the accurate position and speed information of the vehicle in real time and sends it to ECU 6, 4G communication module 3 obtains the traffic flow information on the left side through the base station in real time and sends it to ECU 6, and wireless communication module 2 obtains the speed information of the vehicle ahead in real time and sends it to ECU 6. The ECU 6 comprehensively judges whether it is necessary to overtake the vehicle in front and change lanes. If it judges that it is necessary to overtake the vehicle in front, execute step S2, otherwise continue to execute step S1;

S2, the wireless communication module 2 receives the speed of the front and rear vehicles on the left side of the road and sends it to the ECU6, and the ECU6 judges whether the lane changing process is safe, if it judges that the lane changing process is safe, then execute step S3, otherwise, execute step S1;

S3, the ECU 6 turns on the turn signal 5, and at the same time uses the wireless communication module 2 to send lane change information to surrounding vehicles;

S4, the 4G communication module 3 obtains road parameter information in real time and sends it to the ECU 6, and the ECU 6 calculates the required steering angle, and finally the ECU 6 controls the steering system 4 to change lanes according to the calculated steering angle.

The described embodiment is a preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation, without departing from the essence of the present invention, any obvious improvement, replacement or modification that those skilled in the art can make Modifications all belong to the 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.