缩微交通环境下路口多车协作控制方法研究

发布时间：2018-07-21 12:52

【摘要】：多个智能车协作有助于解决路口交通事故和道路阻塞等实际问题,能够提高智能交通系统的安全性,并能高效的运行。采用实车来进行多车协作控制研究成本高,而软件仿真又不能体现实时性。因而,本文基于缩微交通环境平台,开展多车协作控制方法的研究。首先,为了能够更好地对缩微交通路口多车协作进行研究,搭建了具有典型交通场景和多个缩微车组成的缩微交通平台,并建立了在动力学和通信等方面能够仿真实际智能车队的车队系统的模型,这是完成多车协作控制系统的基础。其次,为了满足缩微交通环境下多车协作控制系统对实时性和可靠性的要求,采用ZigBee通信技术,设计了适用于缩微交通路口多车协作控制的车载无线通信网络系统,实现了车-车、车-路系统之间信息的交互,实现了车在系统中的状态和位置的共享。使用ZigBee网络的OSI七层模型中的MAC层、物理层(PHY)、应用层和网络层(NWK)四层结构,提高了多车协作控制的可靠性和实时性。最后,针对缩微交通路口有无交通信号灯信号,设计了两种不同的控制算法。在有交通信号灯的情况下,利用基于遗传算法的模糊控制方法实现了车辆快速的通过路口,在无信号交通灯的情况下,采用冲突表控制的方法,实现了车辆的安全通行,避免车辆的碰撞。实验结果证明了这两种控制算法的有效性和高效性。
[Abstract]:The cooperation of multiple intelligent vehicles is helpful to solve the practical problems such as traffic accidents and road congestion. It can improve the security of intelligent transportation system and run efficiently. It is very expensive to use real-vehicle to study multi-vehicle cooperative control, but software simulation can not reflect real-time. Therefore, based on the platform of micro-traffic environment, this paper carries out the research of multi-vehicle collaborative control method. First of all, in order to better study the multi-vehicle cooperation in microform traffic intersection, a microform transportation platform with typical traffic scene and multiple microvehicles is built. The model of the vehicle fleet system which can simulate the actual intelligent motorcade in the aspects of dynamics and communication is established, which is the foundation to complete the multi-vehicle cooperative control system. Secondly, in order to meet the requirements of real-time and reliability of multi-vehicle cooperative control system in microform traffic environment, a vehicle-borne wireless communication network system suitable for multi-vehicle cooperative control at microcompact traffic junctions is designed by using ZigBee communication technology. The information exchange between vehicle-vehicle and vehicle-road system is realized, and the state and position of vehicle in the system are shared. Using the four layers of MAC layer, PHY, application layer and network layer (NWK) in the OSI seven-layer model of ZigBee network, the reliability and real-time performance of multi-vehicle cooperative control are improved. Finally, two different control algorithms are designed for traffic signal signals in micro-traffic junctions. In the case of traffic lights, the fuzzy control method based on genetic algorithm is used to realize the fast crossing of vehicles. In the case of no signal traffic lights, the method of conflict table control is used to realize the safe passage of vehicles. Avoid collision of vehicles. Experimental results show the effectiveness and efficiency of the two control algorithms.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U491.54

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