基于无线网络的车辆跟随控制的研究

发布时间：2018-01-27 06:35

本文关键词： 自主车队车辆模型网络控制网络时延时延和丢包　出处：《兰州理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着经济与技术的发展,汽车行业的发展越来越迅猛,汽车的人均保有量越来越多,然而汽车数量的增多也带来了越来越多的问题。在交通拥堵和交通事故日益成为影响人们生产和生活的严重问题、阻碍社会经济与环境健康发展的同时,国内高速公路的保有量也逐渐趋于饱和。目前解决交通问题的首选方法是依靠车队的自主控制,自主车队控制通过减小车间距离,增加交通流量可以很好的缓解交通压力,同时减少交通事故的发生。自主车队的控制的核心思想,是后面的车辆通过一定的通信方法得到前面车辆的信息,以前车信息作为控制输入,设计控制方法,使后面车辆跟随前车行驶。自主车队控制可以通过减小车间距离来缓解交通压力,同时实现车辆的自动或半自动来提高驾驶人员的舒适性。随着无线网络技术的发展,车载自组织网络技术成为自主车队通信的首选方法。目前,对于自主车队控制研究问题主要集中在如下两个方面:一是控制方法的研究,设计合适的控制方法使车辆及车队在预设的车间距离下稳定行驶。二是考虑车辆本身存在的问题对系统稳定性影响,如执行器时延和燃油延时等问题。然而,随着车载自组织网络技术应用于自主车队控制之中,网络传递中存在的固有问题,如网络诱导时延、量化、数据包丢失等等,将不可避免的带入到车队控制系统之中。对于这些问题,目前却很少有研究。本文的研究即是从网络的角度来研究基于无线网络的车队跟随控制问题。本文的工作如下:(1)车队模型的建立。首先对车辆进行简单的动力力学分析,以牛顿第二定理为基础来建立车辆的模型;将发动机模型代入车辆模型之中,最终推导出车辆的状态空间模型。这里所建立的车辆及车队模型为下一步工作的基础。(2)网络时延影响下的自主车队跟随控制问题的研究。当引入网络后,网络诱导时延不可避免的存在于车队闭环系统之中,时延的存在将影响系统的稳定性,这部分的工作即是设计合适的控制方法使车队在存在时延的情况下能稳定行驶。最后通过MATLAB仿真验证所设计的控制方法。(3)网络时延和数据包丢失同时存在的自主车队跟随控制问题的研究。在实际的情况之中,网络诱导时延和数据包丢失时同时存在,共同影响系统的。这部分的研究内容为同时考虑网络时延和数据包丢失问题的车队控制,设计算法及控制器使车队能够稳定的行驶。最后通过MATLAB数值仿真来验证所设计的控制方法的合理性。
[Abstract]:With the development of economy and technology, the development of automobile industry is more and more rapid. However, the increase in the number of cars has also brought more and more problems. Traffic congestion and traffic accidents have increasingly become a serious problem affecting people's production and life, hindering the healthy development of social economy and environment at the same time. At present, the preferred method to solve the traffic problem is to rely on the independent control of the motorcade, which can reduce the distance of the workshop. Increasing traffic flow can relieve traffic pressure and reduce traffic accidents. The core idea of autonomous vehicle fleet control is that the vehicle in the rear can get the information of the front vehicle through certain communication methods. In the past, the vehicle information was used as the control input, and the control method was designed to make the rear vehicle follow the front car. The autonomous vehicle fleet control can reduce the traffic pressure by reducing the distance between the workshop and the workshop. With the development of wireless network technology, vehicle-borne ad hoc network technology has become the preferred method for autonomous motorcade communication. The research on autonomous fleet control is mainly focused on the following two aspects: first, the study of control methods. A suitable control method is designed to make the vehicle and the motorcade run stably under the preset workshop distance. The second is to consider the influence of the vehicle itself on the stability of the system, such as actuator delay and fuel delay. With the application of vehicle-borne ad hoc network technology in autonomous fleet control, there are inherent problems in network transmission, such as network-induced delay, quantization, packet loss and so on. Will inevitably be brought into the team control system. For these problems. At present, however, there are few researches. The research of this paper is to study the problem of fleet following control based on wireless network from the point of view of network. The work of this paper is as follows: 1). First of all, a simple dynamic and mechanical analysis of the vehicle is carried out. Based on Newton's second theorem, the vehicle model is established. The engine model is substituted into the vehicle model. Finally, the state space model of vehicle is derived. The vehicle and fleet model established here is the basis of the next work. 2) the autonomous fleet following control problem under the influence of network delay is studied. When the network is introduced. The network induced delay inevitably exists in the vehicle fleet closed-loop system, and the existence of the delay will affect the stability of the system. This part of the work is to design a suitable control method to make the vehicle can run stably in the presence of time delay. Finally, the designed control method is verified by MATLAB simulation. Research on the problem of autonomous motorcade following control which exists in both network delay and packet loss. Network induced delay and packet loss exist simultaneously, which affect the system together. This part of the research content is to consider both network delay and packet loss of the fleet control. The algorithm and controller are designed to make the motorcade run stably. Finally, the rationality of the proposed control method is verified by MATLAB numerical simulation.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U495

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