缩微环境下的交叉口车队协作控制算法研究

发布时间：2018-06-02 20:21

本文选题：车路协同 + 缩微车　；参考：《天津职业技术师范大学》2017年硕士论文

【摘要】：伴随着人类文明的发展,汽车的保有数目快速增长,随之而来的交通安全事故也频繁发生,各国家在交通安全领域研究的投入很大。传统的车身安全技术已满足不了交通安全通行能力的需求,智能车队已成为汽车安全研究领域的热点,它可以在满足驾驶员对交通工具需求的前提下,解放双手,使驾驶过程脱离人为操作。这项技术的研究,不仅可以增大道路交通流量,提高通行能力,而且还可以避免由人为因素造成的交通安全事故。智能车队运用计算机技术反应时间快,稳定性强的特点,使得车队行驶时的车间距离小,通行率高,事故发生率小,成为了未来智能交通的研究重点。本文针对无信号灯交叉口路段,运用车路协同技术开展无人驾驶车辆之间的协作控制研究。由于车路协同实验平台所需环境复杂,搭建困难,安全系数低,所以运用缩微仿真技术。实验依托缩微车路协同环境平台开展控制研究,论文主要内容如下:首先,优化了缩微车路协同系统,主要介绍实验平台中缩微车的结构组成。其次,开展多车交叉口协作控制算法研究:通过理论基础,建立基本车队数学模型,运用滑模控制以及模糊控制推导相应的控制算法。最后运用实验平台中多辆缩微车组成两组车队进行交叉口多车协作实验,初步验证了研究内容的有效性,为今后研究多车队协同控制提供了一定的研究基础。
[Abstract]:With the development of human civilization, the number of cars has increased rapidly, and the traffic safety accidents have occurred frequently. Many countries have invested a lot in the field of traffic safety. Traditional body safety technology can not meet the need of traffic safety capacity, intelligent motorcade has become a hot spot in the field of automotive safety research, it can meet the needs of drivers on the premise of vehicles, free hands, Detach the driving process from manual operation. The research of this technology can not only increase the traffic flow and capacity, but also avoid the traffic safety accidents caused by human factors. The intelligent motorcade has the characteristics of fast reaction time and strong stability, which makes the workshop distance small, the traffic rate is high, and the accident rate is small when the motorcade is traveling, so it becomes the research focus of intelligent transportation in the future. In this paper, the collaborative control of driverless vehicles is studied by means of vehicle-road coordination technology. Because of the complex environment, difficult construction and low safety factor, the microform simulation technology is used. The main contents of this paper are as follows: firstly, the cooperative system of microform vehicle is optimized, and the structure of the microbus in the experimental platform is introduced. Secondly, the cooperative control algorithm of multi-vehicle intersection is studied. Based on the theory, the basic mathematical model of the motorcade is established, and the corresponding control algorithm is deduced by using sliding mode control and fuzzy control. Finally, the multi-vehicle collaborative experiment at intersections is carried out by using two groups of minibuses in the experimental platform, which proves the effectiveness of the research and provides a basis for the future research on multi-team collaborative control.
【学位授予单位】：天津职业技术师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U491.54

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