本文關(guān)鍵詞： 自主車隊 車輛模型 網(wǎng)絡(luò)控制 網(wǎng)絡(luò)時延 時延和丟包　出處：《蘭州理工大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著經(jīng)濟與技術(shù)的發(fā)展,汽車行業(yè)的發(fā)展越來越迅猛,汽車的人均保有量越來越多,然而汽車數(shù)量的增多也帶來了越來越多的問題。在交通擁堵和交通事故日益成為影響人們生產(chǎn)和生活的嚴重問題、阻礙社會經(jīng)濟與環(huán)境健康發(fā)展的同時,國內(nèi)高速公路的保有量也逐漸趨于飽和。目前解決交通問題的首選方法是依靠車隊的自主控制,自主車隊控制通過減小車間距離,增加交通流量可以很好的緩解交通壓力,同時減少交通事故的發(fā)生。自主車隊的控制的核心思想,是后面的車輛通過一定的通信方法得到前面車輛的信息,以前車信息作為控制輸入,設(shè)計控制方法,使后面車輛跟隨前車行駛。自主車隊控制可以通過減小車間距離來緩解交通壓力,同時實現(xiàn)車輛的自動或半自動來提高駕駛?cè)藛T的舒適性。隨著無線網(wǎng)絡(luò)技術(shù)的發(fā)展,車載自組織網(wǎng)絡(luò)技術(shù)成為自主車隊通信的首選方法。目前,對于自主車隊控制研究問題主要集中在如下兩個方面:一是控制方法的研究,設(shè)計合適的控制方法使車輛及車隊在預(yù)設(shè)的車間距離下穩(wěn)定行駛。二是考慮車輛本身存在的問題對系統(tǒng)穩(wěn)定性影響,如執(zhí)行器時延和燃油延時等問題。然而,隨著車載自組織網(wǎng)絡(luò)技術(shù)應(yīng)用于自主車隊控制之中,網(wǎng)絡(luò)傳遞中存在的固有問題,如網(wǎng)絡(luò)誘導(dǎo)時延、量化、數(shù)據(jù)包丟失等等,將不可避免的帶入到車隊控制系統(tǒng)之中。對于這些問題,目前卻很少有研究。本文的研究即是從網(wǎng)絡(luò)的角度來研究基于無線網(wǎng)絡(luò)的車隊跟隨控制問題。本文的工作如下:(1)車隊模型的建立。首先對車輛進行簡單的動力力學(xué)分析,以牛頓第二定理為基礎(chǔ)來建立車輛的模型;將發(fā)動機模型代入車輛模型之中,最終推導(dǎo)出車輛的狀態(tài)空間模型。這里所建立的車輛及車隊模型為下一步工作的基礎(chǔ)。(2)網(wǎng)絡(luò)時延影響下的自主車隊跟隨控制問題的研究。當(dāng)引入網(wǎng)絡(luò)后,網(wǎng)絡(luò)誘導(dǎo)時延不可避免的存在于車隊閉環(huán)系統(tǒng)之中,時延的存在將影響系統(tǒng)的穩(wěn)定性,這部分的工作即是設(shè)計合適的控制方法使車隊在存在時延的情況下能穩(wěn)定行駛。最后通過MATLAB仿真驗證所設(shè)計的控制方法。(3)網(wǎng)絡(luò)時延和數(shù)據(jù)包丟失同時存在的自主車隊跟隨控制問題的研究。在實際的情況之中,網(wǎng)絡(luò)誘導(dǎo)時延和數(shù)據(jù)包丟失時同時存在,共同影響系統(tǒng)的。這部分的研究內(nèi)容為同時考慮網(wǎng)絡(luò)時延和數(shù)據(jù)包丟失問題的車隊控制,設(shè)計算法及控制器使車隊能夠穩(wěn)定的行駛。最后通過MATLAB數(shù)值仿真來驗證所設(shè)計的控制方法的合理性。
[Abstract]:With the development of economy and technology, the development of automobile industry is more and more rapid. However, the increase in the number of cars has also brought more and more problems. Traffic congestion and traffic accidents have increasingly become a serious problem affecting people's production and life, hindering the healthy development of social economy and environment at the same time. At present, the preferred method to solve the traffic problem is to rely on the independent control of the motorcade, which can reduce the distance of the workshop. Increasing traffic flow can relieve traffic pressure and reduce traffic accidents. The core idea of autonomous vehicle fleet control is that the vehicle in the rear can get the information of the front vehicle through certain communication methods. In the past, the vehicle information was used as the control input, and the control method was designed to make the rear vehicle follow the front car. The autonomous vehicle fleet control can reduce the traffic pressure by reducing the distance between the workshop and the workshop. With the development of wireless network technology, vehicle-borne ad hoc network technology has become the preferred method for autonomous motorcade communication. The research on autonomous fleet control is mainly focused on the following two aspects: first, the study of control methods. A suitable control method is designed to make the vehicle and the motorcade run stably under the preset workshop distance. The second is to consider the influence of the vehicle itself on the stability of the system, such as actuator delay and fuel delay. With the application of vehicle-borne ad hoc network technology in autonomous fleet control, there are inherent problems in network transmission, such as network-induced delay, quantization, packet loss and so on. Will inevitably be brought into the team control system. For these problems. At present, however, there are few researches. The research of this paper is to study the problem of fleet following control based on wireless network from the point of view of network. The work of this paper is as follows: 1). First of all, a simple dynamic and mechanical analysis of the vehicle is carried out. Based on Newton's second theorem, the vehicle model is established. The engine model is substituted into the vehicle model. Finally, the state space model of vehicle is derived. The vehicle and fleet model established here is the basis of the next work. 2) the autonomous fleet following control problem under the influence of network delay is studied. When the network is introduced. The network induced delay inevitably exists in the vehicle fleet closed-loop system, and the existence of the delay will affect the stability of the system. This part of the work is to design a suitable control method to make the vehicle can run stably in the presence of time delay. Finally, the designed control method is verified by MATLAB simulation. Research on the problem of autonomous motorcade following control which exists in both network delay and packet loss. Network induced delay and packet loss exist simultaneously, which affect the system together. This part of the research content is to consider both network delay and packet loss of the fleet control. The algorithm and controller are designed to make the motorcade run stably. Finally, the rationality of the proposed control method is verified by MATLAB numerical simulation.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U495

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