多车辆自主驾驶的协同控制器设计与仿真

发布时间：2018-05-08 09:07

本文选题：多车辆协同控制 + 频域分析　；参考：《华南理工大学》2014年硕士论文

【摘要】：车队协同控制系统是一个庞大且复杂的系统，涉及多个领域，是智能交通系统的重要组成部分。车队系统的目标是通过车与车之间、车与基础设施之间的通信，根据相应的控制算法，在保证安全的前提下，提高道路的通行效率，有效的解决交通拥堵，尾气污染等社会环境问题。近些年来，计算机技术、通信技术、传感检测技术和控制理论等的飞速发展，为车队控制系统的实现提供了可能，本文侧重于控制器的设计与性能分析，并通过仿真实验验证控制算法的有效性。本文将汽车的运动状态扩展到了二维空间，通过引入方向向量，设计了线性控制算法。就单个车辆来看，，控制算法中存在反馈控制和前馈控制，通过反馈控制使得单个车辆能够稳定行驶，前馈控制使得当前车辆与邻居车辆保持一定的安全距离，实现协同控制。就整个车队而言，控制算法变为系统的状态反馈控制，能够实现车队的控制目标。本文分别从频域和时域的角度证明了系统的稳定性。另外，通过频域分析，研究了通信时延和执行器时延对车队系统控制性能的影响，研究发现通信时延不影响系统的稳定性，但会使系统产生控制误差，并找出了控制误差与通信时延之间的关系式；执行器时延会使系统的动态性能恶化，大到一定程度时会使系统不稳定，但执行器时延不会使系统产生静态误差。通过求解线性矩阵不等式，给出了求解状态反馈矩阵的方法，为控制器的设计提供了新的思路和方法。最后从时域的角度证明了车队系统的弦稳定性。通过设计合理的仿真实验，得出的仿真结果有力的支撑了理论推导，对理论结果的各个方面进行验证，证明了控制算法的有效性。在最后，总结了之前的学习和研究成果，设计了模拟仿真平台，为仿真验证提供了更为方便的工具，对多车辆协同控制仿真软件的设计进行了初步探索。
[Abstract]:The collaborative control system is a large and complex system, which involves many fields and is an important part of intelligent transportation system. The goal of the motorcade system is to improve the traffic efficiency and solve the traffic jam effectively by the communication between the vehicle and the vehicle, the communication between the vehicle and the infrastructure, according to the corresponding control algorithm, under the premise of ensuring the safety. Tail gas pollution and other social environmental problems. In recent years, with the rapid development of computer technology, communication technology, sensor detection technology and control theory, it is possible to realize the vehicle fleet control system. This paper focuses on the design and performance analysis of the controller. The effectiveness of the control algorithm is verified by simulation experiments. In this paper, the motion state of the automobile is extended to two dimensional space, and the linear control algorithm is designed by introducing the direction vector. As far as a single vehicle is concerned, feedback control and feedforward control exist in the control algorithm. By feedback control, a single vehicle can run stably, and feedforward control can keep a certain safety distance between the current vehicle and the neighbor vehicle, so that the cooperative control can be realized. As far as the whole fleet is concerned, the control algorithm becomes the state feedback control of the system, which can achieve the control goal of the team. In this paper, the stability of the system is proved in frequency domain and time domain, respectively. In addition, through frequency domain analysis, the effects of communication delay and actuator delay on the control performance of the vehicle fleet system are studied. It is found that the communication delay does not affect the stability of the system, but will cause the control error of the system. The relationship between the control error and the communication delay is found. The actuator delay will worsen the dynamic performance of the system and make the system unstable to a certain extent, but the actuator delay will not cause the static error of the system. By solving the linear matrix inequality, the method of solving the state feedback matrix is given, which provides a new idea and method for the design of the controller. Finally, the chord stability of the motorcade system is proved from the point of view of time domain. Through the design of reasonable simulation experiments, the simulation results obtained support the theoretical derivation forcefully, and verify the various aspects of the theoretical results, and prove the effectiveness of the control algorithm. Finally, the paper summarizes the previous learning and research results, designs the simulation simulation platform, provides a more convenient tool for simulation verification, and makes a preliminary exploration on the design of multi-vehicle collaborative control simulation software.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495

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