Multi-vehicle coordinating lane changing control system and method based on vehicle-vehicle communication

Abstract

The invention discloses a multi-vehicle coordinating lane changing control system and a multi-vehicle coordinating lane changing control method based on vehicle-vehicle communication, and belongs to the field of control over vehicles. The system comprises a sensing unit, a communication unit, a control unit and a human-computer interaction unit. The sensing unit is used for acquiring information of an own vehicle in real time, the communication unit is used for performing real-time interaction of information among vehicles, and the communication unit is used for making a decision of the coordinating lane changing feasibility and acquiring expected control quantities of the own vehicle and coordinating vehicles and realizing control over the vehicles. The method is based on the system, through collecting information of vehicles, i.e. the own vehicle, a front vehicle on an original lane, a front vehicle on a target lane and a behind vehicle on the target lane, motion statuses of the four vehicles having mutual effects are planned in a centralized manner in the lane changing process, and the own vehicle changes the lane smoothly through active coordinating among the four vehicles. By applying the multi-vehicle coordinating lane changing control system and the multi-vehicle coordinating lane changing control method based on the vehicle-vehicle communication, safety spaces among the vehicles can be fully used, the feasible lane changing chance is effectively increased, the lane changing safety is guaranteed, the driving comfort in the lane changing process is improved, and negative influences of lane changing behaviors on the upstream vehicles on the target lane are decreased.

Description

technical field [0001] The invention belongs to the field of vehicle control, and specifically relates to a vehicle-to-vehicle wireless communication environment aimed at vehicle lane-changing scenarios, through vehicle-to-vehicle information interaction and fusion of lane-changing vehicles and the movement information of surrounding vehicles to realize coordinated lane-changing of the vehicle and its surrounding vehicles Intelligent vehicle control system and method thereof. Background technique [0002] With the explosive growth of the number of operating vehicles on the road network, the problems of traffic safety and efficiency are becoming more and more severe. Lane changing behavior is one of the important causes of traffic accidents and traffic congestion, especially in urban areas where the traffic density is high and it is very easy to change lanes. Road collision accidents, and even lead to serial rear-end collisions. The vast majority of lane-changing collision a...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the problem that in the traditional lane changing process, the lane changing vehicle and the surrounding vehicles are independent of each other and passively affect each other,

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