基于V2I的自治交叉口控制策略设计与仿真研究

发布时间：2018-03-05 00:08

本文选题：自治交叉口　切入点：多Agent系统　出处：《大连理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：具备精确控制与传感能力的自治汽车的出现,给安全驾驶带来了新的希望。当前存在的人工智能技术已经能有效的解决自治汽车在开放道路中行驶问题。但面对情景复杂、拥堵较严重、交通事故多发的交叉口来说,车辆的安全和交叉口的通行效率目前都无法保证。本文介绍一种自治交叉口管理方案,尝试利用全球定位技术、无线通讯技术、车内传感和计算技术使得自治车辆能够安全高效地通过交叉口。控制策略作为整个自治交叉口管理系统的“大脑”直接影响系统的性能。本文提出了一种基于车路通信预留的控制策略Batch-Light,该策略能够充分利用现有的智能交通领域的信号控制技术,自适应的应对不断变化的交通流；建立时空板模型,对车辆的时空轨迹进行数据离散化建模；在时空板模型基础上,提出一种贪心的冲突矩阵决策算法,在保证不同方向通行优先权的前提下,使得更多的车辆预留成功。此外,为更大限度程度地提高路口的服务效率,减少时间和空间的浪费,本文又提出一种K平移优化算法,来协助原本无法成功预留的车辆,尽量避免二次请求,通过加速或减速尽可能的通过交叉口。本文还对自治交叉口仿真器AIM (Autonomous Intersection Management)进行了扩展,利用双向耦合的仿真器互连技术,用NS3进行更逼真的网络传输仿真取代AIM中简单网络传输模型,以实现具备反馈环的自治交叉口仿真。该工作用以支持研究不同的交通控制策略对数据传输的需求程度,以及反过来网络传输性能对交通控制效率的影响。最后对本文的提出的控制策略在搭建的仿真平台上进行仿真验证,实验结果显示Batch-Light无论是在平衡的交通状况下还是不平衡的交通状况下都优于FCFS (First Come First Served)和传统的交通信号控制。而且Batch-Light的数据传输量较小,随着噪声的增加,服务效率虽然有所下降,但性能稳定。而FCFS数据传输量很大,网络性能对控制效率的影响不定,有时随着丢包率的增加,控制效率反而会上升。
[Abstract]:The emergence of autonomous vehicles with accurate control and sensing capabilities has brought new hope to safe driving. The current artificial intelligence technology has been able to effectively solve the problem of autonomous vehicles driving on open roads. But the situation is complex. At present, the safety of vehicles and the efficiency of intersections can not be guaranteed. This paper introduces a management scheme of autonomous intersections, which tries to use global positioning technology and wireless communication technology. Internal sensing and computing technology enable autonomous vehicles to pass through intersections safely and efficiently. As the "brain" of the whole autonomous intersection management system, the control strategy directly affects the performance of the system. This paper proposes a control strategy Batch-Lightbased on vehicle-road communication reservation, which can make full use of the existing intelligent transportation. Field signal control technology, Adaptive response to ever-changing traffic flow; establishment of space-time board model to discretize the vehicle's space-time trajectory; based on the space-time board model, a greedy conflict matrix decision algorithm is proposed. In order to improve the service efficiency of intersection and reduce the waste of time and space, a K translation optimization algorithm is proposed in this paper. To assist vehicles that could not be successfully reserved, try to avoid secondary requests and cross intersections as much as possible through acceleration or deceleration. This paper also extends the autonomous Intersection management of autonomous intersections, using two-way coupling simulator interconnection technology, using NS3 to carry out more realistic network transmission simulation to replace the simple network transmission model in AIM. In order to realize the simulation of autonomous intersection with feedback loop, this work is used to support the study of the demand for data transmission by different traffic control strategies and the effect of network transmission performance on traffic control efficiency. Finally, the control strategy proposed in this paper is simulated on the built simulation platform. The experimental results show that Batch-Light is superior to FCFS first Come First Service and traditional traffic signal control in both balanced and unbalanced traffic conditions. Moreover, the amount of data transmission in Batch-Light is small, with the increase of noise. Although the efficiency of service is decreased, the performance is stable, while the amount of FCFS data transmission is very large, and the influence of network performance on control efficiency is uncertain. Sometimes, with the increase of packet loss rate, the control efficiency will increase.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U491.54

【共引文献】