Intelligent networking car coordinated lane-changing control method

Abstract

The invention provides an intelligent networking car coordinated lane-changing control method based on a wireless communication technique, and belongs to the technical field of intelligent traffic / car active safety control. By adoption of the intelligent networking car coordinated lane-changing control method based on the wireless communication technique, impact accidents caused by man-made judgment errors in the vehicle lane-changing process can be avoided, and the car driving safety is guaranteed. The intelligent networking car coordinated lane-changing control method is achieved based on the intelligent networking car technique, and comprises the steps that firstly, driving states and driving intentions of surrounding vehicles are obtained through a wireless communication unit; a longitudinal safety distance model is established according to vehicle lane-changing motion characteristics and relative positions of the vehicles on different lanes; a lane-changing control strategy based on a fuzzy control theory is proposed; expected acceleration values of a vehicle under different traffic scenes during constant-speed running or uniform-acceleration running of the vehicle are calculated, and the speed control of the target vehicle in the lane-changing process is completed; and expected acceleration values of the surrounding vehicles are calculated at the same time, and the purpose of avoiding the impact accidents in the lane-changing process of the vehicle is achieved through coordinated control over the lane-changing vehicle and the surrounding vehicles.

Description

technical field [0001] The invention belongs to the technical field of intelligent traffic / vehicle active safety control, and in particular relates to a coordinated lane-changing control method for intelligent networked vehicles based on wireless communication technology, which is used to solve collisions caused by untimely information acquisition during vehicle lane-changing security incident. Background technique [0002] From the current status of the development of lane change control systems at home and abroad, we can see that in view of the safety problems in the process of vehicle lane change, most of the existing lane change driver assistance systems can only give warning of the danger of lane change before the vehicle changes lanes, and cannot control the safety of the vehicle during the entire lane change. Provide dynamic driving suggestions to the driver during the road. When the driver generates a lane-changing intention, the existing lane-changing assistance sy...

AI Technical Summary

Problems solved by technology

[0012] 1. For the lane change assistance system, most of them are based on the decision-making control of a single vehicle. The lane change is modeled based on the vehicle kinematics at the start of the lane change, and then the driver is subjected to a lane change collision before the lane change behavior occurs. Dangerous early warning; however, this early warning method is based on the static driving information of surrounding vehicles, and at the same time lacks vehicle-to-vehicle communication functions, and the dynamic traffic environment information cannot be obtained in real time during the lane change process, resulting in a certain lag in lane change control

[0013] 2. For the safe distance prediction method of the lane change process, the traditional lane change control mainly uses the driver to judge the surrounding environment information and road conditions. Most of them are based on basic variables such as the speed of the vehicle and the distance between vehicles. It is impossible to obtain information such as the acceleration and brake pedal pressure of other vehicles. At the same time, the data obtained based on traditional sensors is prone to deviation and lag, resulting in inaccurate safety distance prediction and other problems, and it is difficult to provide accurate judgment basis for the lane change control system.

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