基于车路协同的无信号灯平交路口驾驶引导系统研究与实现

发布时间：2018-10-21 20:43

【摘要】：随着智能交通技术的发展,利用车路协同技术解决无信号灯交叉路口车辆通行协调问题已成为目前的研究热点。在此背景下,本文针对二级公路无信号交叉口车路协同环境下的通行协调技术展开研究,提出并开发了一种基于车路协同的驾驶引导系统,论文的主要工作如下:论文研究并开发了一种基于车路协同的无信号灯平交路口驾驶引导系统,该系统主要分为车载子系统和路侧子系统。该驾驶引导系统设定的应用场景是二级公路路口车辆从支路并入干路。路侧端子系统主要由基于WAVE的车-路通讯设备构成,实现持续地广播道路优先级信息、实时路况信息和路网信息,并能接受来自车载端的更新信息,设计了数字签名流程来验证更新信息数据的安全性。车载端子系统主要由基于WAVE的车-车通讯设备和车载智能终端构成,实现了通过车-车通讯设备获取临近车辆的准确地理位置、速度和方向,根据车辆的行驶方向就能确定车辆所行驶的车道,并从路侧子系统获得道路优先级信息、实时路况信息和路网信息。然后车载子系统中将每个车道内的车辆依据与路口的距离进行排序,根据自身车辆的行驶速度来计算车辆到达路口的时间,并依次取相关车道中车辆的距离和速度来计算并判断是否可能发生碰撞。最后通过车载子系统的智能终端应用程序与驾驶员进行交互。论文依托车载端、路侧端以及模拟数据输入进行了可靠性测试和精度测试,对论文中提出的横穿车道模型和汇入车道模型展开测试,重点衡量了最小车距、最大等待时间以及平均等待时间这些指标,并对测试结果进行了分析。结果表明在双向交通流量高达4362辆每小时的情况下,横穿车道等待时间不超过49秒,汇入车道等待时间不超过61秒。之后对二级公路支路与干路交叉路口三种车辆行为(左转、直行和右转)进行了测试,设置了测试用例并完成了测试。
[Abstract]:With the development of intelligent transportation technology, it has become a research focus to solve the problem of vehicle traffic coordination at signal-free junctions by means of vehicle-road coordination technology. Under this background, this paper studies the traffic coordination technology in the vehicle-road coordination environment of the second class highway unsignalized intersection, and proposes and develops a driving guidance system based on the vehicle-road coordination. The main work of this paper is as follows: this paper studies and develops a driving guidance system based on vehicle-road coordination. The system is mainly divided into vehicle subsystem and road-side subsystem. The application scene of the driving guidance system is that the secondary road intersection vehicle is merged into the trunk road from the branch road. The roadside terminal system is mainly composed of vehicle-road communication equipment based on WAVE, which can continuously broadcast road priority information, real-time road condition information and road network information, and can receive updated information from vehicle end. A digital signature process is designed to verify the security of the updated information data. The vehicle terminal system is mainly composed of the vehicle-vehicle communication equipment based on WAVE and the vehicle intelligent terminal, which can obtain the accurate geographical position, speed and direction of the adjacent vehicle through the vehicle-vehicle communication equipment. According to the driving direction of the vehicle, the lane can be determined, and the road priority information, the real-time road condition information and the road network information can be obtained from the road side subsystem. Then the vehicle in each lane is sorted according to the distance between the vehicle and the intersection, and the time when the vehicle arrives at the intersection is calculated according to the speed of the vehicle. The distance and speed of the vehicle in the relevant lane are taken to calculate and judge the possibility of collision. Finally, it interacts with the driver through the intelligent terminal application of the vehicle subsystem. Based on the on-board end, the side end and the simulation data input, the paper carries out the reliability test and precision test, and tests the traversing lane model and the confluence lane model proposed in the paper, with the emphasis on measuring the minimum vehicle distance. The maximum waiting time and the average waiting time are analyzed. The results show that under the condition of two-way traffic flow of up to 4362 vehicles per hour, the waiting time of crossing lane is not more than 49 seconds, and the waiting time of import lane is not more than 61 seconds. After that, three kinds of vehicle behaviors (left turn, straight turn and right turn) were tested, and the test cases were set up and the test was completed.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U495;TP311.52

【相似文献】