车路协同中的智能车编队设计与实现

发布时间：2018-03-21 01:35

本文选题：车辆编队　切入点：一致性　出处：《北京工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着社会科技程度的提高,车路协同系统在交通领域的应用也越来越广泛,其主要体现在车辆协同安全、交通协调控制和综合信息服务等三个方面,这些对于提高交通效率和安全性有很大作用。车辆编队是车路协同系统中的一个重要研究方向,通过车辆编队控制,能够有效提高道路车辆密度,缓解交通拥堵；还可以主动控制车辆避免碰撞,提高交通的安全性；同时避免不必要的刹车和提速,进而减少尾气排放,实现节约能源保护环境的效果。本文主要针对车辆编队的控制策略进行研究,并根据不同的车辆模型和编队要求设计出相应的控制方法与策略。基于实验室实车搭建车辆编队控制平台,对论文提出的控制算法与策略进行了验证与实验。论文分别对智能车直线队形编队,特定几何队形编队以及弯道跟踪编队进行了模型研究与控制方法设计与实现,并针对非完整约束智能车编队控制进行了深入研究,提出了有效的控制方法,实现了较好的编队效果。具体包括：对于多智能车直线队形编队,论文首先对车辆运动学模型进行了分析,并基于一致性协议设计了车辆运动控制器,实现了多智能车在直线上以相等速度和间距进行编队行驶。对于智能车特定几何队形编队,论文运用虚结构方法的设计思想进行编队运动学模型分析,并基于PID控制方法,设计了车辆运动控制器,实现了车辆的几何队形编队。对于智能车弯道跟踪编队,论文基于leader-follower法对编队模型进行分析,分别设计了leader的轨道跟踪控制器和follower的跟车控制器,实现了多智能车的轨道编队。对于非完整约束多智能车的编队,论文对非完整约束系统进行了详细研究,并基于坐标转换的思想,设计了车辆编队控制器,实现了非完整约束多智能车的编队效果。最后,论文基于MATLAB软件对多智能车的编队控制算法进行了仿真验证。并且,基于VS2010软件平台开发了车辆编队控制平台软件(MACP),该平台基于先锋系列机器人 AmigoBot,通过搭建基于WLAN的通信网络,设计了基于MFC的人机交互界面与控制中心,实现了论文设计的控制算法的验证与实车实验。
[Abstract]:With the improvement of social science and technology, the application of vehicle-road coordination system in the field of transportation is becoming more and more extensive, which is mainly reflected in three aspects: vehicle coordination safety, traffic coordination and control and integrated information service. Vehicle formation is an important research direction in vehicle-road coordination system. Through vehicle formation control, vehicle density can be effectively increased and traffic congestion can be alleviated. It can also actively control vehicles to avoid collision, improve traffic safety, and avoid unnecessary braking and speed increase, thereby reducing exhaust emissions. The effect of energy saving and environmental protection is realized. This paper mainly studies the control strategy of vehicle formation. The corresponding control methods and strategies are designed according to the different vehicle models and formation requirements. The vehicle formation control platform is built based on the actual vehicle in the laboratory. The control algorithm and strategy proposed in this paper are verified and experimented. The model research and control method design and implementation of intelligent vehicle linear formation, specific geometric formation and curved track tracking formation are carried out in this paper. Furthermore, the formation control of non-holonomic constrained intelligent vehicles is studied deeply, and an effective control method is proposed to achieve better formation effect, including: for multi-intelligent vehicle linear formation, Firstly, the vehicle kinematics model is analyzed, and the vehicle motion controller is designed based on the consistency protocol, which realizes the multi-intelligent vehicle moving in formation at the same speed and spacing on the straight line. In this paper, the virtual structure method is used to analyze the kinematics model of the formation. Based on the PID control method, the vehicle motion controller is designed to realize the geometric formation of the vehicle. In this paper, the formation model is analyzed based on leader-follower method, and the track tracking controller of leader and the controller of following vehicle of follower are designed, respectively, and the track formation of multi-intelligent vehicle is realized. In this paper, the nonholonomic constraint system is studied in detail, and based on the idea of coordinate transformation, vehicle formation controller is designed to realize the formation effect of multi-intelligent vehicle with nonholonomic constraints. In this paper, the formation control algorithm of multi-intelligent vehicle is simulated based on MATLAB software. Based on the VS2010 software platform, the vehicle formation control platform software is developed. The platform is based on the avantgarde series robot Amigo Bot. by building the communication network based on WLAN, the man-machine interface and control center based on MFC are designed. The verification of the control algorithm designed in this paper and the real vehicle experiment are realized.
【学位授予单位】：北京工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U495

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