汽车跟驰行为仿真实验研究

发布时间：2018-09-09 12:50

【摘要】：随着智能交通的快速发展,人们对于微观交通流理论的研究更加深入细致,车辆跟驰模型伴随着微观交通流理论的发展而发展起来。作为微观交通流理论的基础,车辆跟驰模型对交通流理论的完善和补充起到了重要的作用。研究车辆跟驰对于交通安全、交通管理、道路通行能力评估等方面的分析与研究都有着重要的意义。因此研究跟驰模型具有十分重要的理论意义和应用价值。但是现有的跟驰模型研究大多采用数学分析结合计算机仿真的方法,缺少一个直观真实的展示界面。论文以此为目的基于NI公司的StarterKit2.0硬件平台,研究开发了一套具备演示功能的车辆跟驰行为仿真实验系统。首先论文在阅读相关文献的基础上,对所研究的课题进行了详细的综述,鉴于最优速度跟驰模型结构简单、数学上易于扩展且应用最为广泛,论文将该模型作为重点研究对象,并与全速度差模型展开对比分析。然后,基于Starter Kit 2.0性能对最优速度模型和全速度差模型进行了参数标定,运用线性稳定性理论对标定的跟驰模型进行了稳定性分析,运用控制学理论和数学分析方法计算该模型稳定的精确条件,借助C++和MATLAB编程技术对标定的跟驰模型稳定性进行了理论验证。其次,设计了三组跟驰实验对模型稳定性进行了实际验证。主要的工作有:对NI Single-Board RIO嵌入式控制板进行二次开发,基于板载硬件接口扩展了RS232串口转WiFi模块,完成通信模块的硬件调试与软件设计,实现了 Starter Kit 2.0与计算机的通信功能,以及前车与后车的通信功能;扩展了红外探测传感器模块,设计循迹跑道与下位机运动控制程序,实现了 Starter Kit 2.0的循迹功能。最后,采用LabVIEW语言设计上位机界面,实时采集、处理、保存并显示StarterKit2.0的运动状态,包括前后车距、前后车速、后车加速度等信息。论文的创新之处在于将循迹与跟驰行为有机结合起来,较为准确的演示了双车系统在单一轨道上的跟驰行为。在实验过程中利用WiFi技术实现无线通信,前后车可以根据功能需要实时获取对方的运动状态信息,实现信息交互,体现了车联网的思想顺应未来交通发展的趋势。开发了一套展示车辆运动状态信息的人机界面,便于数据的观察、分析与处理,为今后研究人员研究学习车辆跟驰行为提供借鉴。
[Abstract]:With the rapid development of intelligent transportation, the research on microscopic traffic flow theory is more and more intensive, and the car-following model is developed with the development of micro-traffic flow theory. As the basis of microscopic traffic flow theory, car-following model plays an important role in perfecting and supplementing traffic flow theory. It is of great significance for the analysis and research of traffic safety, traffic management, road capacity evaluation and so on. Therefore, the study of car-following model has very important theoretical significance and application value. However, most of the current research on car-following model is based on mathematical analysis and computer simulation, which lacks an intuitive and real display interface. Based on the StarterKit2.0 hardware platform of NI Company, a set of simulation experiment system of vehicle car-following behavior with demonstration function is developed in this paper. First of all, on the basis of reading the relevant literature, the thesis makes a detailed summary of the research topics. In view of the simple structure of the optimal speed and car-following model, the mathematical expansion and the most extensive application, the paper takes the model as the key research object. The results are compared with the whole velocity difference model. Then, based on the performance of Starter Kit 2.0, the optimal velocity model and the full velocity difference model are calibrated, and the linear stability theory is used to analyze the stability of the calibrated car-following model. The accurate conditions for the stability of the model are calculated by using the control theory and mathematical analysis method. The stability of the calibrated car-following model is theoretically verified by using C and MATLAB programming techniques. Secondly, three groups of car-following experiments are designed to verify the stability of the model. The main work is as follows: the second development of NI Single-Board RIO embedded control board, the extension of RS232 serial port to WiFi module based on board hardware interface, the completion of hardware debugging and software design of communication module, and the realization of communication function between Starter Kit 2.0 and computer. The function of communication between the front car and the rear car is discussed, the infrared detection sensor module is extended, the track runway and the lower computer motion control program are designed, and the tracking function of Starter Kit 2.0 is realized. Finally, the upper computer interface is designed by using LabVIEW language, which can collect, process, store and display the moving state of StarterKit2.0 in real time, including the information of the distance between the front and the rear, the speed of the front and back, the acceleration of the rear car and so on. The innovation of this paper lies in the combination of track tracing and car-following behavior, which accurately demonstrates the car-following behavior of two-car system on a single track. In the process of experiment, the wireless communication is realized by using WiFi technology. The front and rear vehicles can obtain the movement state information of each other in real time according to the need of function, and realize the information exchange, which reflects the idea of vehicle networking to conform to the trend of traffic development in the future. A human-machine interface is developed to display the information of vehicle motion state, which is convenient for observation, analysis and processing of data, and provides a reference for researchers to study the behavior of car-following in the future.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U491

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