基于车路协同的交叉口车辆通行方法研究

发布时间：2018-02-12 12:44

本文关键词： 车路协同跟驰模型交叉口通行方法 Pramics仿真　出处：《吉林大学》2017年硕士论文　论文类型：学位论文

【摘要】：如今智能交通技术的发展为人们的出行带来了诸多便利,随着通信技术、传感器技术等前沿技术的发展,车车、车路间的信息交互变得更加实时、高效,使得车路协同系统成为当前智能交通研究的热点。对于道路交通系统来说,交叉口是城市路网的“咽喉”,如何利用车路协同技术实现交叉口处安全、高效的通行也是车路协同技术的研究重点。相比无信息交互的实际运行车辆和交通基础设施,车路协同系统最大的特点在于提供了车-路、车-车之间运行和控制信息的交互可能。针对这一变化,本文在车路协同技术条件下,以保障行车安全,消解交叉口行车冲突为目标,对交叉口处的车辆通行方法进行了研究,可以提高车辆在交叉口的通行效率。具体研究工作如下:首先搭建基于车路协同技术的交叉口协调系统框架,对智能车载系统、智能路侧系统及通信协议和策略进行了分析;分析了常见交叉口中的机动车之间的冲突,考虑车辆的刹车距离和通讯及人体反应造成的时间延误,计算交叉口控制模型介入的触发距离;考虑到实际驾驶中跟驰过程前后多车运动状态对跟驰行为的影响,在全速度差模型的基础上提出了改进全速差模型。其次,为了提高交叉口处的通行效率,考虑交叉口处流量的大小,设计了两种车辆通行方法:针对流量较小的情况,设计了以交叉口总延误为优化目标的车速引导模型,对车辆加、减速的控制,可以使车辆在交叉口通行中不停车,“穿插”通过交叉口。针对流量较大的情况,以现有的交叉口信号灯配时方法为基础,以交叉口总延误和停车次数为优化目标设计了采用“虚拟信号控制”的走-停式的通行方法。最后,构建了基于Q-Paramics和VC++联合的车路协同环境下交叉口车辆通行仿真平台,利用VC++对上文所建立模型的编程实现,通过Q-Paramics的API接口实现对车辆的控制,同时对本文所提出的改进跟驰模型和交叉口控制模型的有效性进行验证。
[Abstract]:Nowadays, the development of intelligent transportation technology has brought a lot of convenience for people to travel. With the development of communication technology, sensor technology and other advanced technologies, the information exchange between vehicles, vehicles and roads becomes more real-time and efficient. For the road traffic system, the intersection is the "throat" of the urban road network, how to use the vehicle-road coordination technology to realize the intersection safety, Efficient traffic is also the focus of research on vehicle-road coordination technology. Compared with the actual operation of vehicles and traffic infrastructure without information interaction, the most important feature of vehicle-road coordination system is that it provides vehicle-road. The interaction of operation and control information between vehicles and vehicles is possible. In view of this change, in this paper, under the condition of vehicle-road coordination technology, in order to ensure traffic safety and resolve traffic conflicts at intersections, the vehicle traffic methods at intersections are studied in this paper. The specific research work is as follows: firstly, the framework of intersection coordination system based on vehicle-road coordination technology is built, and the intelligent vehicle system, intelligent road-side system, communication protocol and strategy are analyzed. This paper analyzes the conflicts between motor vehicles in common intersections and calculates the trigger distance of intersections control model by considering the braking distance of vehicles and the time delay caused by communication and human body reaction. Considering the effect of multi-vehicle motion state on car-following behavior in actual driving, an improved full-speed differential model is proposed on the basis of the full-speed difference model. Secondly, in order to improve the traffic efficiency of intersections, an improved full-speed differential model is proposed. Considering the volume of traffic at the intersection, two traffic methods are designed: aiming at the small flow, a speed guidance model is designed to control the acceleration and deceleration of the vehicle, taking the total delay of the intersection as the optimization objective. It can make the vehicle not stop at the intersection, "interleave" through the intersection. In the case of large flow, based on the existing intersections signal light timing method, Taking the total delay and the number of stops at the intersection as the optimization objectives, the paper designs a walking and stopping method using "virtual signal control". Finally, a vehicle traffic simulation platform based on Q-Paramics and VC is constructed. The programming of the above model is realized by VC, the vehicle control is realized by Q-Paramics API interface, and the validity of the improved car-following model and intersection control model proposed in this paper is verified.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U491

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