A vehicle driving intelligent control method based on the Internet of Vehicles

Abstract

The present invention relates to the technical field of intelligent vehicle driving control based on the vehicle Internet of Things, and discloses an intelligent vehicle driving control method based on the vehicle Internet of Things. Obtaining the origin and destination information of the user is the basis of the navigation system, ensuring that the best route from the user's current location to the destination can be accurately calculated. The system generates multiple routes, comprehensively considering the distance, time, road conditions, and the number of traffic lights, providing diverse choices. By dividing the route at traffic lights as the segmentation points, the system refines the path analysis and adjusts the driving strategy for each section individually, improving the overall driving efficiency. By differentiating the lanes of each section in detail, the system can accurately plan and adjust the route. The high-precision map and real-time vehicle information provide data support for dynamically adjusting the driving strategy. By analyzing road and vehicle data, the system can identify dangerous points in advance and optimize the driving route, helping the user make the best choice.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicle driving control based on the Internet of Vehicles, and specifically to an intelligent vehicle driving control method based on the Internet of Vehicles. Background Art

[0002] In the modern traffic environment, the intelligent driving control technology of vehicles has become an important direction for the development of the Internet of Vehicles technology. The existing technology mainly relies on the GPS navigation system, basic map information, and vehicle driving data to provide services such as route planning and driving suggestions for drivers. However, with the complexity of urban traffic, traditional navigation technologies face many problems, such as real-time changes in traffic conditions, road congestion, unstable signal control, and vehicle density. As a result, the existing intelligent driving control systems perform inadequately in precise control and dealing with complex road conditions, and cannot effectively improve vehicle traffic efficiency and driving experience.

[0003] The existing lane selection and driving strategy adjustment rely to a certain extent on the driver's subjective judgment and lack automated and intelligent auxiliary decision-making means. For example, on busy roads or highways, drivers often need to judge by themselves whether to change lanes, overtake, or decelerate. The existing intelligent driving control technology can only provide basic speed limit reminders or lane keeping functions, and cannot provide effective strategy adjustment support for dynamic obstacles on the road, such as slow-moving vehicles or vehicles driving side by side. This leads to easy misjudgment or delayed decision-making by drivers in the face of complex traffic environments, affecting driving safety and efficiency. Therefore, this case aims to propose a method and system for improving the efficiency of route changes and lane changes. Summary of the Invention

[0004] The present invention provides an intelligent vehicle driving control method based on the Internet of Vehicles, which promotes the solution of the problems mentioned in the above background art.

[0005] The present invention provides the following technical solution: An intelligent vehicle driving control method based on the Internet of Vehicles, comprising:

[0006] Obtain the origin of the user;

[0007] Obtain the destination of the user;

[0008] Generate multiple routes according to the origin and destination of the user;

[0009] The route specifically includes distance, average time to pass the route, road conditions, and the number of traffic lights. Denote the average time to pass the route as time;

[0010] Obtain the route selected by the user;

[0011] The route selected by the user is divided into N sections with traffic lights as the dividing points, and are respectively recorded as the 1st section, the 2nd section... the Nth section in the order from near to the starting point;

[0012] Taking the direction of vehicle travel as the positive direction, the lanes on each section are successively recorded as the left-turn lane, the middle straight lane, and the right straight lane from left to right;

[0013] Obtain the road information of the section where the user's vehicle is located through the high-precision map, as well as the vehicle information on the road at the current moment;

[0014] Judge whether the user's vehicle needs to change the driving strategy according to the obtained road information and vehicle information;

[0015] Form a changed driving strategy according to the judgment result.

[0016] Optionally, the judging whether the user's vehicle needs to change the driving strategy according to the obtained road information and vehicle information specifically includes:

[0017] Obtain the lengths of all sections on the route selected by the user;

[0018] Obtain the distance and time of the route selected by the user;

[0019] Calculate the ratio of the length of each section to the distance of the route selected by the user as: D i =L i / the distance of the route selected by the user, where D i is the ratio of the i-th section, and L i is the length of the i-th section;

[0020] Calculate the time required to pass through each section according to the ratio of the distance of each section to the distance of the route selected by the user as T i =D i × the time of the route selected by the user, where T i is the time required to pass through the i-th section;

[0021] Set the redundancy time threshold for the route selected by the user;

[0022] The redundancy time threshold for passing through each section = D i × the redundancy time threshold for the route selected by the user;

[0023] Obtain the time that the user's vehicle has traveled on the current section;

[0024] Obtain the distance that the user's vehicle has traveled on the current section;

[0025] Obtain the driving speed of the user's vehicle on the current section;

[0026] Obtain the lane in which the user's vehicle is traveling;

[0027] The remaining distance of the user's vehicle on the current road section = the length of the current road section - the distance the user's vehicle has traveled on the current road section;

[0028] The travel time required for the user's vehicle to pass through the remaining distance on the current road section = the remaining distance of the user's vehicle on the current road section / the travel speed of the user's vehicle on the current road section;

[0029] If there are no other vehicles in front of the lane in which the user's vehicle is traveling, and the time the user's vehicle has traveled on the current road section + the travel time required for the user's vehicle to pass through the remaining distance on the current road section ≤ the time required to pass through the current road section + the redundancy time threshold for each road section, then the user's vehicle does not need to change its driving strategy;

[0030] If there are no other vehicles in front of the lane in which the user's vehicle is traveling, and the time the user's vehicle has traveled on the current road section + the travel time required for the user's vehicle to pass through the remaining distance on the current road section > the time required to pass through the current road section + the redundancy time threshold for each road section, then the user's vehicle needs to change its driving strategy;

[0031] If there is an obstacle vehicle in front of the lane in which the user's vehicle is traveling;

[0032] Obtain the travel speed of the obstacle vehicle;

[0033] Calculate the travel time required to pass through the remaining distance of the current road section at the travel speed of the obstacle vehicle, denoted as the travel time at the obstacle speed, then the travel time at the obstacle speed = the remaining distance of the user's vehicle on the current road section / the travel speed of the obstacle vehicle;

[0034] If the time the user's vehicle has traveled on the current road section + the travel time at the obstacle speed ≤ the time required to pass through the current road section + the redundancy time threshold for each road section, then the user's vehicle does not need to change its driving strategy;

[0035] If the time the user's vehicle has traveled on the current road section + the travel time at the obstacle speed > the time required to pass through the current road section + the redundancy time threshold for each road section, then the user's vehicle needs to change its driving strategy.

[0036] Optionally, forming a driving strategy change according to the judgment result specifically includes:

[0037] If there is no obstacle vehicle in front of the user's vehicle;

[0038] Obtain the driving lane where the user's vehicle is located;

[0039] Obtain the maximum speed limit of the driving lane;

[0040] If the driving speed of the user's vehicle is less than the maximum speed limit of the lane, increase the driving speed of the user's vehicle;

[0041] After the user finishes driving the current section, adjust the driving information of the remaining sections;

[0042] If the driving speed of the user's vehicle is equal to the maximum speed limit of the lane, determine whether the user's vehicle can change lanes and form a lane-changing strategy based on the result;

[0043] If there is an obstacle vehicle in front of the user's vehicle, determine whether the user's vehicle can change lanes and form a lane-changing strategy based on the result;

[0044] After the user's vehicle changes to the target lane, determine whether the user is in line with the route traveling direction in the target lane and form a driving adjustment strategy based on the result.

[0045] Optionally, the adjusting the driving information of the remaining sections after the user finishes driving the current section specifically includes:

[0046] Obtain the driving time of all sections that the user's vehicle has passed;

[0047] Calculate the driving time required for the user to pass the remaining distance of the selected route = the time of the user's selected route - the driving time of all sections that the user's vehicle has passed;

[0048] Calculate the time required to pass the remaining section as T i =D i × the driving time required for the user to pass the remaining distance of the selected route.

[0049] Optionally, the determining whether the user's vehicle can change lanes and forming a lane-changing strategy based on the result specifically includes:

[0050] Obtain the road information of the section where the user's vehicle is driving and the vehicle information on the road at the current moment;

[0051] The road information includes the lane position of the section where the user's vehicle is located, the target lane position, the dividing line type between adjacent lanes, and the speed limit of each lane;

[0052] The vehicle information includes the driving speed of the user's vehicle;

[0053] The vehicle information further includes the position of the obstacle vehicle on the lane where the user's vehicle is located and the driving speed of the obstacle vehicle;

[0054] The vehicle information further includes the position of the obstacle vehicle on the target lane and the driving speed of the obstacle vehicle;

[0055] Among them, the obstacle vehicle includes an obstacle vehicle in front of the user vehicle, denoted as the front obstacle vehicle; an obstacle vehicle in the front side of the user vehicle, denoted as the side front obstacle vehicle; and an obstacle vehicle traveling side by side with the user vehicle, denoted as the side-by-side obstacle vehicle.

[0056] Optionally, determining whether the user can change lanes and forming a lane-changing strategy according to the result specifically includes:

[0057] When there is only a side-by-side obstacle vehicle:

[0058] If the traveling speed of the user vehicle is equal to that of the side-by-side obstacle vehicle, a first lane-changing strategy is formed;

[0059] The first lane-changing strategy is: the user vehicle cannot change lanes;

[0060] If the traveling speed of the user vehicle is greater than that of the side-by-side obstacle vehicle and the side-by-side obstacle vehicle does not accelerate;

[0061] Set the safety distance threshold to Q;

[0062] Obtain the distance between the user vehicle and the side-by-side obstacle vehicle, denoted as Q1;

[0063] When Q1≥Q, execute the pre-lane-changing strategy.

[0064] Optionally, the pre-lane-changing strategy specifically includes:

[0065] Set the lane-changing safety threshold to P;

[0066] S1. Keep the user vehicle traveling at a constant speed;

[0067] S2. Turn on the turn signal and keep it flashing for a period of time. The flashing time of the turn signal is denoted as t;

[0068] S3. Obtain the distance between the user vehicle and the obstacle vehicle after time t, denoted as P1;

[0069] If P1≥P, execute a lane change;

[0070] If P1<P, do not execute a lane change.

[0071] Optionally, determining whether the user can change lanes and forming a lane-changing strategy according to the result specifically includes:

[0072] When the obstacle vehicle is a side front obstacle vehicle;

[0073] Set the front lane-changing distance threshold D;

[0074] Obtain the distance between the user vehicle and the side front obstacle vehicle, denoted as D1;

[0075] When D1≥D, execute the pre-lane-changing strategy;

[0076] When D1 < D, execute the first lane-changing strategy.

[0077] Optionally, determining whether the user is in line with the route traveling direction on the target driving lane and forming a driving adjustment strategy according to the result, specifically including:

[0078] Obtain the traveling direction of the user's target driving lane;

[0079] Obtain the transition relationship between the current driving section of the user and the next section, denoted as the transition direction;

[0080] The transition relationship is: going straight or turning left;

[0081] When the traveling direction of the user's target driving lane is inconsistent with the transition direction, change lanes and drive;

[0082] When lane-changing driving is not feasible, obtain the current position of the user's vehicle, and regenerate and compare multiple routes based on the current position and the destination, and select the route with the shortest driving time as the new driving route.

[0083] The present invention has the following beneficial effects:

[0084] 1. Obtaining the user's origin and destination information is the basis of the entire navigation process, ensuring that the navigation system can accurately calculate the best path from the user's location to the destination, generating multiple routes to provide users with a variety of choices, enabling them to select a suitable travel path according to their personal preferences. The system comprehensively considers factors such as distance, time, and road conditions to provide users with different travel plans. This step can effectively improve the user experience and help users find more efficient or comfortable routes. Dividing the route by traffic lights helps to refine the path analysis and enables personalized adjustment of the driving strategy for each section. In this way, the system can make real-time adjustments according to the characteristics of each section to improve the overall driving fluency and efficiency. By differentiating each lane of each section in detail, the system can make more accurate path planning and decision-making adjustments based on the vehicle's position in different lanes. The real-time acquisition of high-precision maps and vehicle information provides data support for dynamically adjusting the driving strategy. By analyzing road and vehicle data, the system can identify potential danger points in advance, thereby optimizing the driving path without the user's knowledge. The finally generated driving strategy adjustment ensures that the system can respond in a timely manner to real-time road condition changes, thus helping users make the best choice in a complex traffic environment.

[0085] 2. Obtaining the lengths of all road segments is the basis for further calculating the time and ratio required for each road segment. By accurately obtaining the lengths of individual road segments, the system can gradually analyze the details of the route selected by the user, thereby providing data support for subsequent time calculation and route optimization. Calculating the ratio of each road segment enables the system to refine the contribution of each section of the journey to the overall trip, thus better allocating driving time. This calculation makes the subsequent prediction of driving time more accurate, ensuring that users can plan the driving strategy for each road segment in advance. By distributing the total driving time to each road segment, the system can more precisely predict the driving time of the user on each road segment. This process helps the system achieve real-time monitoring and adjustment, providing users with a more accurate estimated arrival time. The setting of the redundant time threshold reserves a buffer space for unexpected delays during the driving process, ensuring that the system can cope with changes in actual road conditions. By introducing redundant time, users can obtain a more flexible driving plan and still maintain controllability of the trip in the face of unexpected situations. This step can effectively improve driving safety and user experience, reducing uncertainty. Distributing the redundant time threshold according to the ratio of each road segment ensures that each road segment has an appropriate time buffer. By combining the remaining distance and the current speed, the system can calculate in real time the remaining driving time required for the user's vehicle on the current road segment. Through the accurate calculation of driving time and redundant time, the system can anticipate potential delay risks in advance, thereby helping users maintain driving stability. By dynamically monitoring the driving progress, the system can propose suggestions for adjusting the driving strategy before potential delays occur. When there are obstacle vehicles ahead, the system can quickly respond through real-time detection, helping users avoid delays caused by the deceleration or stopping of vehicles ahead.

[0086] 3. If there are no obstacle vehicles in front of the user's vehicle, the system can focus more on increasing the vehicle's driving speed or optimizing other parameters to ensure that the user can make the most of the available road resources under unobstructed road conditions. Determining the current driving lane where the vehicle is located can provide accurate information for subsequent speed limit judgments and driving strategies. The speed limits and traffic conditions may vary among different lanes. Knowing the current lane of the user's vehicle helps formulate appropriate driving speed adjustment strategies and provides necessary background information for possible lane changes. Adjusting the information for the remaining sections after completing the current section can ensure that the system always maintains the latest driving data. This step, through dynamic information updates, helps the system make more accurate driving decisions in the subsequent sections, thereby improving the accuracy and reliability of the user's overall travel plan. It ensures that the driving strategy for each section is based on real-time road conditions and vehicle status. When the vehicle reaches the maximum speed limit, the introduction of a lane change strategy can further optimize the driving speed. When there is an obstacle vehicle in front, lane change is an important means to solve the problem of speed limitation. By judging the feasibility of lane change, the system can help the user avoid obstacles and continue to maintain the driving speed, thus avoiding delays caused by the deceleration or blockage of the vehicle in front. This lane change strategy can improve the driving flexibility and adaptability, ensuring that the user is always in the best driving state.

[0087] 4. By obtaining the driving time of the sections that the vehicle has passed, the system can keep track of the user's actual driving progress in real time. Calculating the driving time for the remaining distance can help the user better understand the overall trip progress and make adjustments according to the real-time situation. By subtracting the driven time from the total driving time, the system can accurately predict the time required for the remaining sections, thus providing a more reliable time estimate for the subsequent trip. This calculation step provides the user with real-time remaining driving time information, making the travel plan clearer. By combining the proportion of the remaining sections with the remaining time, the system can allocate corresponding time to each remaining section. This calculation ensures that the time allocation for each section is dynamically adjusted according to the current driving situation, avoiding time errors caused by road conditions or other external factors.

[0088] 5. By obtaining the road information of the section where the vehicle is located and the vehicle information on the current road, the system can have a comprehensive understanding of the driving environment in real time. This information provides the basic data for the system to judge and adjust the vehicle driving strategy, ensuring that the driving decision can make the optimal choice based on the current road conditions and traffic flow. By detailedly knowing the position of the driving lane, the line type of the dividing line of the adjacent lane, and the speed limit of each lane, the system can help the user select the most appropriate driving strategy without violating traffic rules. By knowing the position and driving speed of the obstacle vehicle, the system can accurately judge whether the user's vehicle needs to take strategies such as avoidance, deceleration, or lane change. The system can judge the feasibility of lane change and the driving efficiency after lane change through these data, avoiding the user's vehicle from entering a blocked lane. By distinguishing the obstacle vehicle ahead, the system can formulate targeted driving strategies such as detouring, decelerating, or waiting. Identifying the obstacle vehicle in the front side can provide a warning when the user's vehicle changes lanes. By monitoring the movement of the vehicle in the front side, the system can judge the feasibility of lane change in advance, avoiding side collisions or other dangers that may occur during the lane change process. The system can ensure that there is no conflict during lane change and ensure that the user's vehicle remains within a safe driving range according to the speed and position of the parallel obstacle vehicle.

[0089] 6. When the speed of the user's vehicle is the same as that of the parallel obstacle vehicle, the system identifies the situation where safe lane change is impossible. Through this speed comparison, the system can effectively avoid the potential lane change risks caused by the same speed, ensuring that lane change operations are not made under unsafe conditions. When the user's vehicle speed is relatively fast and the parallel obstacle vehicle does not accelerate, the system believes that there is a possibility of safe lane change. The setting of the safety distance threshold Q provides a standardized measurement index for the system to evaluate the safety of lane change. By setting a clear safety distance, the system can ensure that there is enough space during lane change, avoiding the risk of collision with the parallel obstacle vehicle. This step strengthens the safety during the lane change process, reduces potential accident hazards, and ensures the smooth driving of the vehicle. By real-time monitoring the distance between vehicles, the system can judge whether the conditions for safe lane change are met according to the actual situation. When the vehicle distance Q1 is greater than or equal to the safety distance Q, the system judges that the lane change conditions are met and can execute the predetermined lane change operation. By setting the pre-lane change strategy, the system can take lane change operations at the appropriate time, ensuring the smoothness and safety of driving, and at the same time avoiding sudden or unsafe lane change operations.

[0090] 7. Setting the lane change safety threshold P provides a clear safety standard for the system, ensuring that the vehicle will not collide with other vehicles during lane change. This threshold enables the system to have a basis for decision-making by quantifying the safety distance, thereby improving the safety and stability of lane change operations. Driving at a constant speed allows the system to better predict the relative distance changes with other vehicles, ensuring a more controllable environment during lane change. Turning on the turn signal and keeping it flashing for a time t provides a clear warning of the lane change intention to other road users, increasing the predictability of driving behavior. By setting the flashing time, the system can ensure that other vehicles are given sufficient reaction time before lane change, avoiding accidents caused by sudden lane changes. By obtaining the real-time distance P1 between the vehicle and the obstacle vehicle during the flashing period of the turn signal, the system can dynamically monitor the relative position changes between vehicles. When the vehicle distance P1 is greater than or equal to the safety threshold P, the system confirms that the lane change conditions are met and executes the lane change operation. This judgment ensures that there is sufficient safety distance during lane change, reducing the risk of collision. When the vehicle distance P1 is less than the safety threshold P, the system does not execute the lane change operation, ensuring that it will not rashly change lanes under dangerous conditions. This step provides safety protection for users, avoiding traffic accidents caused by forced lane change.

[0091] 8. The side-front obstacle vehicle is located in front of and to the side of the user's vehicle, determining the difficulty of lane change and the safety of operation. By locking the position of a specific obstacle vehicle, the system can plan a dedicated lane change strategy for this complex traffic scenario, ensuring that potential dangers can still be effectively judged and avoided under the interference of the side-front vehicle. The setting of the front lane change distance threshold D provides a standard for the system to measure the distance between the user's vehicle and the side-front obstacle vehicle. This distance threshold can quantify the prerequisite for safe lane change, enabling the lane change operation to be carried out based on a clear distance standard and reducing the risk brought by fuzzy judgment. By obtaining the distance D1 between the user's vehicle and the side-front obstacle vehicle in real time, the system can accurately evaluate the current traffic environment. This real-time monitoring can reflect the relative position between the user's vehicle and the obstacle vehicle, providing the latest distance data for lane change decision-making. When the distance D1 between the user's vehicle and the side-front obstacle vehicle is greater than or equal to the front lane change distance threshold D, the system can determine that the lane change conditions are met and execute the pre-lane change strategy. When the distance D1 between the user's vehicle and the side-front obstacle vehicle is less than the front lane change distance threshold D, the system will execute the first lane change strategy, usually meaning giving up the current lane change attempt.

[0092] 9. By obtaining the driving direction of the user's target driving lane, the system can predict the vehicle's future path selection, which provides basic data for subsequent driving strategies, ensuring that the vehicle plans lane change or straight-ahead operations in advance according to the target direction. Obtaining the transition relationship between the current road section and the next road section provides a basis for connecting the vehicle's driving route. By clarifying the transition direction, the system can plan reasonable lane change or straight-ahead operations for the vehicle in advance, avoiding unnecessary route deviations during driving. This step ensures that the vehicle can smoothly transition from one road section to another, improving the fluency and accuracy of the driving process, reducing unnecessary time loss. By defining the transition relationship as straight or left turn, the system provides a clear path selection for judging the next driving strategy. By judging whether the target driving lane direction is consistent with the transition direction, the system can adjust the driving strategy in real time to ensure that the vehicle is driving in the correct lane. When the two are inconsistent, timely lane change operations can prevent the vehicle from deviating from the predetermined route and missing important intersections or turning points. This step enables the system to have higher adaptability, being able to flexibly respond to complex road environments according to actual situations and improving driving efficiency. When the lane change conditions are not met, the system immediately re-evaluates the current traffic situation and generates multiple alternative routes based on the vehicle's current position. This function enables the system to quickly respond to emergencies in complex traffic environments, providing new options for the vehicle and avoiding getting into a situation where it cannot continue to move forward. By adjusting the driving route in real time, the system can effectively reduce the delay time and provide a more flexible travel plan for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 It is a schematic diagram of the driving lane of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0094] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0095] Embodiment, referring to Figure 1 a vehicle driving intelligent control method based on the vehicle networking, including:

[0096] Obtain the user's starting place;

[0097] Obtain the user's destination;

[0098] Generate multiple routes according to the user's starting place and destination;

[0099] The specific route includes distance, average time to pass the route, road conditions, and the number of traffic lights. Denote the average time to pass the route as time;

[0100] Obtain the route selected by the user;

[0101] Divide the route selected by the user into N sections with traffic lights as the dividing points, and denote them as the 1st section, the 2nd section... the Nth section in the order from near to the starting point;

[0102] Taking the direction of vehicle travel as the positive direction, denote the driving lanes on each section as the left-turn lane, the middle straight lane, and the right straight lane in sequence from left to right;

[0103] Obtain the road information of the section where the user's vehicle is located and the vehicle information on the road at the current moment through the high-precision map;

[0104] Judge whether the user's vehicle needs to change the driving strategy according to the obtained road information and vehicle information;

[0105] Form a changed driving strategy according to the judgment result.

[0106] Obtaining the starting point and destination information of the user is the basis of the entire navigation process, ensuring that the navigation system can accurately calculate the best path from the user's location to the destination, generating multiple routes to provide users with a variety of choices, enabling them to select a suitable travel path according to their personal preferences. The system comprehensively considers factors such as distance, time, and road conditions to provide users with different travel plans. This step can effectively improve the user experience and help users find a more efficient or comfortable route. Dividing the route with traffic lights as the dividing point helps to refine the path analysis and can make personalized adjustments to the driving strategy for each section. In this way, the system can make real-time adjustments according to the characteristics of each section, improving the overall driving fluency and efficiency. By differentiating the lanes of each section in detail, the system can make more accurate path planning and decision-making adjustments according to the position of the vehicle in different lanes. The real-time acquisition of high-precision map and vehicle information provides data support for dynamically adjusting the driving strategy. Through the analysis of road and vehicle data, the system can identify potential dangerous points in advance, thus optimizing the driving path without the user's knowledge. The finally generated adjustment of the driving strategy ensures that the system can respond in a timely manner to real-time road condition changes, thereby helping users make the best choice in a complex traffic environment.

[0107] The judgment of whether the user's vehicle needs to change the driving strategy according to the obtained road information and vehicle information specifically includes:

[0108] Obtain the lengths of all sections on the route selected by the user;

[0109] Obtain the distance and time of the route selected by the user;

[0110] Calculate the ratio of the length of each road segment to the distance of the route selected by the user as: D i =L i / the distance of the route selected by the user, where D i is the ratio of the i-th road segment, and L i is the length of the i-th road segment;

[0111] According to the ratio of each road segment to the distance of the route selected by the user, calculate the time required to pass through each road segment as T i =D i × the time of the route selected by the user, where T i is the time required to pass through the i-th road segment;

[0112] Set the redundancy time threshold for the route selected by the user;

[0113] The redundancy time threshold for passing through each road segment = D i × the redundancy time threshold for the route selected by the user;

[0114] Obtain the time that the user's vehicle has traveled on the current road segment;

[0115] Obtain the distance that the user's vehicle has traveled on the current road segment;

[0116] Obtain the driving speed of the user's vehicle on the current road segment;

[0117] Obtain the lane in which the user's vehicle is traveling;

[0118] The remaining distance of the user's vehicle on the current road segment = the length of the current road segment - the distance that the user's vehicle has traveled on the current road segment;

[0119] The driving time required for the user's vehicle to pass through the remaining distance on the current road segment = the remaining distance of the user's vehicle on the current road segment / the driving speed of the user's vehicle on the current road segment;

[0120] If there are no other vehicles in front of the lane in which the user's vehicle is traveling, and the time that the user's vehicle has traveled on the current road segment + the driving time required for the user's vehicle to pass through the remaining distance on the current road segment ≤ the time required to pass through the current road segment + the redundancy time threshold for passing through each road segment, then the user's vehicle does not need to change the driving strategy;

[0121] If there are no other vehicles in front of the lane in which the user's vehicle is traveling, and the time that the user's vehicle has traveled on the current road segment + the driving time required for the user's vehicle to pass through the remaining distance on the current road segment > the time required to pass through the current road segment + the redundancy time threshold for passing through each road segment, then the user's vehicle needs to change the driving strategy;

[0122] If there is an obstacle vehicle in front of the lane where the user's vehicle is traveling;

[0123] Obtain the driving speed of the obstacle vehicle;

[0124] Calculate the driving time required to pass the remaining distance of the current section at the driving speed of the obstacle vehicle, denoted as the obstacle speed driving time. Then, the obstacle speed driving time = the remaining distance of the user's vehicle on the current section / the driving speed of the obstacle vehicle;

[0125] If the time the user's vehicle has traveled on the current section + the obstacle speed driving time ≤ the time required to pass the current section + the redundancy time threshold for each section, the user's vehicle does not need to change the driving strategy;

[0126] If the time the user's vehicle has traveled on the current section + the obstacle speed driving time > the time required to pass the current section + the redundancy time threshold for each section, the user's vehicle needs to change the driving strategy.

[0127] Obtaining the lengths of all sections is the basis for further calculating the time and ratio required for each section. By accurately obtaining the lengths of each section, the system can gradually analyze the details of the route selected by the user, thereby providing data support for subsequent time calculation and path optimization. Calculating the ratio of each section enables the system to refine the contribution of each section of the journey to the overall itinerary, thereby better allocating the driving time. This calculation makes the subsequent prediction of driving time more accurate, ensuring that the user can plan the driving strategy for each section in advance. By allocating the total driving time to each section, the system can more accurately predict the driving time of the user on each section. This process helps the system to achieve real-time monitoring and adjustment, providing a more accurate estimated arrival time for the user. The setting of the redundancy time threshold reserves a buffer space for unexpected delays during the driving process, ensuring that the system can cope with changes in the actual road conditions. By introducing redundancy time, the user can obtain a more flexible driving plan and still maintain controllability of the itinerary in the face of unexpected situations. This step can effectively improve driving safety and the user experience, reducing anxiety and uncertainty. Allocating the redundancy time threshold according to the ratio of each section enables each section to have an appropriate time buffer. By combining the remaining distance and the current speed, the system can calculate the remaining driving time required for the user's vehicle on the current section in real time. Through the accurate calculation of driving time and redundancy time, the system can anticipate potential delay risks in advance, thereby helping the user to maintain stable driving. By dynamically monitoring the driving progress, the system can propose suggestions for adjusting the driving strategy before potential delays occur. When there is an obstacle vehicle ahead, the system can quickly respond through real-time detection, helping the user to avoid delays caused by the deceleration or stop of the vehicle ahead.

[0128] According to the judgment result, form a changed driving strategy, specifically including:

[0129] If there is no obstacle vehicle in front of the user's vehicle;

[0130] Obtain the driving lane where the user's vehicle is located;

[0131] Obtain the maximum speed limit of the driving lane;

[0132] If the driving speed of the user's vehicle < the maximum speed limit of the driving lane, increase the driving speed of the user's vehicle;

[0133] Adjust the driving information of the remaining sections after the user finishes driving the current section;

[0134] If the driving speed of the user's vehicle = the maximum limit of the driving lane, determine whether the user's vehicle can change lanes and form a lane-changing strategy according to the result;

[0135] If there is an obstacle vehicle in front of the user's vehicle, determine whether the user's vehicle can change lanes and form a lane-changing strategy according to the result;

[0136] After the user's vehicle changes to the target driving lane, determine whether the user conforms to the route traveling direction in the target driving lane and form a driving adjustment strategy according to the result.

[0137] If there is no obstacle vehicle in front of the user's vehicle, the system can focus more on increasing the driving speed of the vehicle or optimizing other parameters to ensure that the user can make the most of the available road resources under unobstructed road conditions. Determining the driving lane where the vehicle is currently located can provide accurate information for subsequent speed limit judgments and driving strategies. The speed limits and traffic conditions may vary among different lanes. Knowing the current lane of the user's vehicle helps formulate appropriate driving speed adjustment strategies and provides necessary background information for possible lane changes. Adjusting the information of the remaining sections after completing the current section can ensure that the system always maintains the latest driving data. This step helps the system make more accurate driving decisions in the next section through dynamic information update, thereby improving the accuracy and reliability of the user's overall travel plan. It ensures that the driving strategy for each section is based on real-time road conditions and vehicle status. When the vehicle reaches the maximum speed limit, the introduction of a lane-changing strategy can further optimize the driving speed. When there is an obstacle vehicle in front, lane change is an important means to solve the problem of speed limitation. By judging the feasibility of lane change, the system can help the user avoid obstacles and continue to maintain the driving speed, thus avoiding delays caused by the deceleration or blockage of the vehicle in front. This lane-changing strategy can improve the driving flexibility and adaptability, ensuring that the user is always in the best driving state.

[0138] The adjustment of the driving information of the remaining sections after the user finishes driving the current section specifically includes:

[0139] Obtain the driving time of all the sections that the user's vehicle has passed;

[0140] The driving time required for the user to cover the remaining distance of the selected route = the time of the selected route by the user - the driving time of all the sections that the user's vehicle has passed through;

[0141] Calculate the time required to pass through the remaining sections as T i =D i × the driving time required for the user to cover the remaining distance of the selected route.

[0142] By obtaining the driving time of the sections that the vehicle has passed through, the system can keep track of the user's actual driving progress in real time. Calculating the driving time of the remaining journey can help the user better understand the overall journey progress and make adjustments according to the real-time situation. By subtracting the driven time from the total driving time, the system can accurately predict the time required for the remaining sections, thus providing a more reliable time estimate for the subsequent journey. This calculation step provides the user with real-time information on the remaining driving time, making the travel plan clearer. By combining the proportion of the remaining sections with the remaining time, the system can allocate corresponding time to each remaining section. This calculation ensures that the time allocation for each section is dynamically adjusted according to the current driving situation, avoiding time errors caused by road conditions or other external factors.

[0143] Determine whether the user can change lanes and form a lane-changing strategy based on the result, specifically including:

[0144] Obtain the road information of the section where the user's vehicle is driving and the vehicle information on the road at the current moment;

[0145] The road information includes the driving lane position, the target lane position of the section where the user's vehicle is located, the dividing line type between adjacent driving lanes, and the speed limits of each lane;

[0146] The vehicle information includes the driving speed of the user's vehicle;

[0147] The vehicle information also includes the position of the obstacle vehicle on the driving lane where the user's vehicle is located and the driving speed of the obstacle vehicle;

[0148] The vehicle information also includes the position of the obstacle vehicle on the target driving lane and the driving speed of the obstacle vehicle;

[0149] Among them, the obstacle vehicles include the obstacle vehicle in front of the user's vehicle, denoted as the front obstacle vehicle; the obstacle vehicle in the front side of the user's vehicle, denoted as the side-front obstacle vehicle; and the obstacle vehicle driving side by side with the user's vehicle, denoted as the side-by-side obstacle vehicle.

[0150] By obtaining the road information of the section where the vehicle is located and the vehicle information on the current road, the system can comprehensively grasp the driving environment in real time. This information provides the basic data for the system to judge and adjust the vehicle driving strategy, ensuring that the driving decision can make the optimal choice based on the current road conditions and traffic flow. By comprehensively mastering the position of the driving lane, the line type of the dividing line of the adjacent lane, and the speed limit of each lane, the system can help users select the most appropriate driving strategy without violating traffic rules. By knowing the position and driving speed of the obstacle vehicle, the system can accurately judge whether the user's vehicle needs to take strategies such as avoidance, deceleration, or lane change. The system can judge the feasibility of lane change and the driving efficiency after lane change based on these data, avoiding the user's vehicle from entering a blocked lane. By distinguishing the obstacle vehicles ahead, the system can formulate targeted driving strategies such as detouring, decelerating, or waiting. Identifying the obstacle vehicle in the front side can provide a warning when the user's vehicle changes lanes. By monitoring the movement of the vehicle in the front side, the system can judge the feasibility of lane change in advance, avoiding side collisions or other dangers that may occur during the lane change process. The system can ensure that there is no conflict during lane change and ensure that the user's vehicle remains within a safe driving range according to the speed and position of the parallel obstacle vehicles.

[0151] Judging whether the user can change lanes and forming a lane change strategy according to the result, specifically including:

[0152] When there are only parallel obstacle vehicles:

[0153] If the driving speed of the user's vehicle is equal to the driving speed of the parallel obstacle vehicle, form a first lane change strategy;

[0154] The first lane change strategy is: the user's vehicle cannot change lanes;

[0155] If the driving speed of the user's vehicle is greater than that of the parallel obstacle vehicle and the parallel obstacle vehicle does not accelerate;

[0156] Set the safety distance threshold as Q. The setting of the safety distance threshold prompts the critical value for the system to perform pre-lane change. When the distance between the user's vehicle and the obstacle vehicle is greater than the safety distance threshold, pre-lane change can be performed;

[0157] Obtain the distance between the user's vehicle and the parallel obstacle vehicle, denoted as Q1;

[0158] When Q1≧Q, perform the pre-lane change strategy.

[0159] When the speed of the user's vehicle is the same as that of the vehicle with which it is side by side, the system identifies a situation where it is not safe to change lanes. Through this speed comparison, the system can effectively avoid potential lane-changing risks caused by the same speed, ensuring that lane-changing operations are not carried out under unsafe conditions. When the user's vehicle speed is relatively fast and the vehicle with which it is side by side does not accelerate, the system believes that there is a possibility of safe lane change. The setting of the safety distance threshold Q provides a standardized measurement index for the system to evaluate the safety of lane change. By setting a clear safety distance, the system can ensure that there is enough space during lane change to avoid the risk of collision with the vehicle with which it is side by side. This step strengthens the safety during lane change, reduces potential accident hazards, and ensures the smooth driving of the vehicle. By continuously monitoring the distance between vehicles, the system can judge whether the conditions for safe lane change are met according to the actual situation. When the vehicle distance Q1 is greater than or equal to the safety distance Q, the system determines that the lane change conditions are met and can perform the predetermined lane change operation. By setting a pre-lane change strategy, the system can take lane change operations at an appropriate time, ensuring the smoothness and safety of driving, and at the same time avoiding sudden or unsafe lane change operations.

[0160] The pre-lane change strategy specifically includes:

[0161] Set the lane change safety threshold to P. The setting of the P value is conducive to ensuring the safety of the user's vehicle during lane change. When the P value is larger, the lane change of the user's vehicle is safer; conversely, the safety is smaller.

[0162] S1. Keep the user's vehicle driving at a constant speed;

[0163] S2. Turn on the turn signal and keep it flashing for a period of time. The flashing time of the turn signal is recorded as t;

[0164] S3. After time t, obtain the vehicle distance between the user's vehicle and the obstacle vehicle, which is recorded as P1;

[0165] If P1 ≥ P, perform a lane change;

[0166] If P1 < P, do not perform a lane change.

[0167] Setting the lane - change safety threshold P provides a clear safety standard for the system, ensuring that the vehicle will not collide with other vehicles during lane - change. This threshold can enable the system to have a basis for decision - making by quantifying the safety distance, thus improving the safety and stability of lane - change operations. Driving at a constant speed allows the system to better predict the relative distance changes with other vehicles, ensuring a more controllable environment during lane - change. Turning on the turn signal and keeping it flashing for a time t provides a clear warning of the lane - change intention to other road users, increasing the predictability of driving behavior. By setting the flashing time, the system can ensure that other vehicles are given enough reaction time before lane - change, avoiding unexpected accidents caused by sudden lane - change. By obtaining the real - time distance P1 between the vehicle and the obstacle vehicle during the flashing period of the turn signal, the system can dynamically monitor the relative position changes between vehicles. When the vehicle distance P1 is greater than or equal to the safety threshold P, the system confirms that the lane - change condition is met and performs the lane - change operation. This judgment ensures that there is enough safety distance during lane - change, reducing the risk of collision. When the vehicle distance P1 is less than the safety threshold P, the system does not perform the lane - change operation, ensuring that it will not rashly change lanes under dangerous conditions. This step provides safety protection for users and avoids traffic accidents caused by forced lane - change.

[0168] It is determined whether the user can change lanes and a lane - change strategy is formed according to the result, which specifically includes:

[0169] When the obstacle vehicle is a side - front obstacle vehicle;

[0170] Set the front lane - change distance threshold D. The setting of the lane - change distance threshold indicates the critical value for the system to execute pre - lane - change. When the distance between the user's vehicle and the obstacle vehicle is greater than the lane - change distance threshold, pre - lane - change can be executed;

[0171] Obtain the distance between the user's vehicle and the side - front obstacle vehicle, denoted as D1;

[0172] When D1≥D, execute the pre - lane - change strategy;

[0173] When D1 < D, execute the first lane - change strategy.

[0174] The side-front obstacle vehicle is located in front of and to the side of the user vehicle, which determines the difficulty of lane change and the safety of operation. By locking the position of a specific obstacle vehicle, the system can plan dedicated lane change strategies for this complex traffic scenario to ensure effective judgment and avoidance of potential risks under the interference of the side-front vehicle. The setting of the front lane change distance threshold D provides a standard for the system to measure the distance between the user vehicle and the side-front obstacle vehicle. This distance threshold can quantify the prerequisite for safe lane change, enabling the lane change operation to be carried out according to a clear distance standard and reducing the risks brought by fuzzy judgment. By obtaining the distance D1 between the user vehicle and the side-front obstacle vehicle in real time, the system can accurately evaluate the current traffic environment. This real-time monitoring can reflect the relative position between the user vehicle and the obstacle vehicle, providing the latest distance data for lane change decision-making. When the distance D1 between the user vehicle and the side-front obstacle vehicle is greater than or equal to the front lane change distance threshold D, the system can determine that the lane change condition is met and execute the pre-lane change strategy. When the distance D1 between the user vehicle and the side-front obstacle vehicle is less than the front lane change distance threshold D, the system will execute the first lane change strategy, usually meaning giving up the current lane change attempt.

[0175] Judge whether the user is in line with the route traveling direction on the target driving lane and form a driving adjustment strategy according to the result, specifically including:

[0176] Obtain the traveling direction of the user's target driving lane;

[0177] Obtain the transition relationship between the current driving section of the user vehicle and the next section, denoted as the transition direction;

[0178] The transition relationship is: going straight or turning left;

[0179] When the traveling direction of the user's target driving lane is inconsistent with the transition direction, change lanes;

[0180] When it does not meet the condition of changing lanes, obtain the current position of the user vehicle, regenerate multiple routes according to the current position and the destination and compare them, and select the route with the shortest driving time as the new driving route.

[0181] By obtaining the driving direction of the user's target driving lane, the system can predict the vehicle's future path selection, which provides basic data for subsequent driving strategies, ensuring that the vehicle plans lane change or straight-ahead operations in advance according to the target direction. Obtaining the transition relationship between the current road section and the next road section provides a basis for connecting the vehicle's driving route. By clarifying the transition direction, the system can plan reasonable lane change or straight-ahead operations for the vehicle in advance, avoiding unnecessary route deviations during driving. This step ensures that the vehicle can smoothly transition from one road section to another, improving the fluency and accuracy of the driving process and reducing unnecessary time consumption. By defining the transition relationship as straight or left turn, the system provides a clear path selection for judging the next driving strategy. By judging whether the target driving lane direction is consistent with the transition direction, the system can adjust the driving strategy in real time to ensure that the vehicle is driving in the correct lane. When the two are inconsistent, making a lane change operation in time can prevent the vehicle from deviating from the predetermined route and missing important intersections or turning points. This step enables the system to have higher adaptability, being able to flexibly respond to complex road environments according to the actual situation and improving the driving efficiency. When the lane change conditions are not met, the system immediately re-evaluates the current traffic situation and generates multiple alternative routes based on the vehicle's current position. This function enables the system to quickly respond to emergencies in complex traffic environments, providing new options for the vehicle and avoiding being trapped in a situation where it cannot move forward. By adjusting the driving route in real time, the system can effectively reduce the delay time and provide a more flexible travel plan for the user.

[0182] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0183] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A vehicle driving intelligent control method based on vehicle networking, characterized in that: include: Get the user's origin; Get the user's destination; Generate multiple routes based on the user's origin and destination; The route specifically includes the distance, the average time to pass the route, the road conditions and the number of traffic lights, and the average time to pass the route is recorded as the time; Get the route selected by the user; The route selected by the user is divided into N sections with traffic lights as the dividing points, and they are recorded as the first section, the second section, ... the Nth section in order from the nearest to the starting point; Taking the direction of vehicle travel as the positive direction, the lanes on each road section are recorded from left to right as the left turn lane, the middle straight lane and the right straight lane; Obtain the road information of the section where the user's vehicle is located and the vehicle information on the road at the current moment through high-precision maps; Based on the acquired road information and vehicle information, determine whether the user's vehicle needs to change its driving strategy; The determining whether the user's vehicle needs to change the driving strategy based on the acquired road information and vehicle information specifically includes: Get the length of all sections on the route selected by the user; Get the distance and time of the route selected by the user; The ratio of the length of each road segment to the distance of the route selected by the user is calculated as: D i =L i / The distance of the route selected by the user, where D i is the ratio of the i-th road section, L i is the length of the i-th road segment; According to the ratio of the distance of each road section to the route selected by the user, the time required to pass each road section is calculated as T i =D i × The time the user selects the route, where T i is the time required to pass the i-th road section; Set the redundant time threshold for users to select routes; Redundancy time threshold for passing each road segment = D i × Redundancy time threshold of the route selected by the user; Get the time the user's vehicle has traveled on the current road section; Get the distance the user's vehicle has traveled on the current road section; Get the driving speed of the user's vehicle on the current road section; Get the lane where the user's vehicle is traveling; The remaining distance of the user's vehicle on the current road section = the length of the current road section - the distance the user's vehicle has traveled on the current road section; The time required for the user's vehicle to travel the remaining distance on the current road section = the remaining distance of the user's vehicle on the current road section / the driving speed of the user's vehicle on the current road section; If there are no other vehicles ahead of the lane where the user's vehicle is traveling, and the time the user's vehicle has traveled on the current section + the time required for the user's vehicle to pass the remaining distance on the current section ≦ the time required to pass the current section + the redundant time threshold for passing each section, then the user's vehicle does not need to change its driving strategy; If there are no other vehicles ahead of the lane where the user's vehicle is traveling, and the time the user's vehicle has traveled on the current section + the time required for the user's vehicle to travel the remaining distance on the current section > the time required to pass the current section + the redundant time threshold for passing each section, then the user's vehicle needs to change its driving strategy; If there is an obstructing vehicle in front of the lane where the user's vehicle is traveling; Get the speed of the obstacle vehicle; Calculate the time required to pass the remaining distance of the current road section at the speed of the obstacle vehicle, which is recorded as the obstacle speed driving time. Then the obstacle speed driving time = the remaining distance of the user vehicle on the current road section / the speed of the obstacle vehicle; If the time the user's vehicle has traveled on the current road section + the time traveling at the obstacle speed ≦ the time required to pass the current road section + the redundant time threshold for passing each road section, the user's vehicle does not need to change its driving strategy; If the time the user's vehicle has traveled on the current road section + the time traveling at the obstacle speed > the time required to pass the current road section + the redundant time threshold for passing each road section, the user's vehicle needs to change its driving strategy; According to the judgment result, the driving strategy is changed; According to the judgment result, a driving strategy is formed, which specifically includes: If there is no obstacle vehicle in front of the user's vehicle; Obtain the driving lane where the user's vehicle is located; Obtain the maximum speed limit of the driving lane; If the driving speed of the user's vehicle < the maximum speed limit of the driving lane, increase the driving speed of the user's vehicle; Adjust the driving information of the remaining sections after the user finishes driving the current section; If the driving speed of the user's vehicle = the maximum limit of the driving lane, judge whether the user's vehicle can change lanes and form a lane-changing strategy according to the result; If there is an obstacle vehicle in front of the user's vehicle, judge whether the user's vehicle can change lanes and form a lane-changing strategy according to the result; After the user's vehicle changes to the target driving lane, judge whether the user conforms to the route progress direction in the target driving lane and form a driving adjustment strategy according to the result.

2. The vehicle driving intelligent control method based on the Internet of Vehicles according to claim 1 is characterized in that: The adjusting the driving information of the remaining sections after the user finishes driving the current section specifically includes: Obtain the driving time of all the sections that the user's vehicle has passed; Calculate the driving time required for the user to pass the remaining distance of the selected route = the time of the user's selected route - the driving time of all the sections that the user's vehicle has passed; Calculate the time required to pass the remaining section as T i =D i × The time required for the user to travel the remaining distance of the selected route.

3. The vehicle driving intelligent control method based on the Internet of Vehicles according to claim 2 is characterized in that: The judging whether the user can change lanes and forming a lane-changing strategy according to the result specifically includes: Obtain the road information of the section where the user's vehicle is driving and the vehicle information on the road at the current moment; The road information includes the driving lane position, the target lane position, the dividing line type between adjacent driving lanes and the speed limit of each lane of the section where the user's vehicle is located; The vehicle information includes the driving speed of the user's vehicle; The vehicle information also includes the position of the obstacle vehicle on the driving lane where the user's vehicle is located and the driving speed of the obstacle vehicle; The vehicle information also includes the position of the obstacle vehicle on the target driving lane and the driving speed of the obstacle vehicle; Among them, the obstacle vehicles include the obstacle vehicle in front of the user's vehicle, denoted as the front obstacle vehicle; the obstacle vehicle in the front side of the user's vehicle, denoted as the side front obstacle vehicle; the obstacle vehicle driving side by side with the user's vehicle, denoted as the side-by-side obstacle vehicle.

4. The vehicle driving intelligent control method based on the Internet of Vehicles according to claim 3 is characterized in that: The judging whether the user can change lanes and forming a lane-changing strategy according to the result specifically includes: When there is only a side-by-side obstacle vehicle: If the driving speed of the user's vehicle is equal to the driving speed of the side-by-side obstacle vehicle, form a first lane-changing strategy; The first lane-changing strategy is: the user's vehicle cannot change lanes; If the driving speed of the user's vehicle is greater than that of the side-by-side obstacle vehicle and the side-by-side obstacle vehicle does not accelerate; Set the safety distance threshold as Q; Obtain the distance between the user's vehicle and the side-by-side obstacle vehicle, denoted as Q1; When Q1≧Q, execute the pre-lane-changing strategy.

5. The vehicle driving intelligent control method based on the Internet of Vehicles according to claim 4 is characterized in that: The pre-lane-changing strategy specifically includes: Set the lane-changing safety threshold as P; S1. Keep the user's vehicle driving at a constant speed; S2. Turn on the turn signal and keep it flashing for a period of time, and the flashing time of the turn signal is denoted as t; S3. Obtain the distance between the user's vehicle and the obstacle vehicle after t time, denoted as P1; If P1≧P, execute the lane change; If P1<P, do not execute the lane change.

6. The vehicle driving intelligent control method based on the Internet of Vehicles according to claim 3 is characterized in that: The judging whether the user can change lanes and forming a lane-changing strategy according to the result specifically includes: When the obstacle vehicle is a side front obstacle vehicle; Set the front lane-changing distance threshold D; Obtain the distance between the user's vehicle and the side front obstacle vehicle, denoted as D1; When D1 ≥ D, execute the pre-lane-changing strategy; When D1 < D, execute the first lane-changing strategy.

7. The vehicle driving intelligent control method based on the Internet of Vehicles according to claim 1 is characterized in that: Judge whether the user is in line with the route traveling direction on the target driving lane, and form a driving adjustment strategy according to the result, specifically including: Obtain the traveling direction of the user's target driving lane; Obtain the transition relationship between the current driving section of the user and the next section, denoted as the transition direction; The transition relationship is: going straight or turning left; When the traveling direction of the user's target driving lane is inconsistent with the transition direction, change lanes; When lane-changing is not feasible, obtain the current position of the user's vehicle, and regenerate and compare multiple routes based on the current position and the destination, and select the route with the shortest driving time as the new driving route.

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