Design of Data Acquisition System with High Precision for Lane-change Behavior Detection Applied in Intelligent and Connected Vehicles

V2X technology enables the intelligent and connected vehicles (ICVs) to communicate with surrounding vehicles in real time. In order to obtain the data related to the lane-change behavior of the ICVs and its surrounding vehicles, a positioning data acquisition system with high precision is designed, including hardware and software. In the designed system, the high-precision position, velocity, acceleration and direction angle data are acquired based on the Sinan navigation high-precision receiver M100, the MK5 OBU of Cohda Wireless can be used to realize real-time communication of information, and the main controller is designed based on STM32, completes the collection and transmission of high-precision positioning information, and stores it in the SD card after time synchronization. The relevant data was collected by installing the designed system on the test vehicle, and the lane-changing behavior was manually marked and time stamped. The analysis of experimental results shows that the designed system can basically achieve lane-level accuracy in urban open road scenes, and accurately describe the trajectory of vehicle lane-change behavior.