本文選題：車輛編隊(duì)　切入點(diǎn)：一致性　出處：《北京工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著社會科技程度的提高,車路協(xié)同系統(tǒng)在交通領(lǐng)域的應(yīng)用也越來越廣泛,其主要體現(xiàn)在車輛協(xié)同安全、交通協(xié)調(diào)控制和綜合信息服務(wù)等三個方面,這些對于提高交通效率和安全性有很大作用。車輛編隊(duì)是車路協(xié)同系統(tǒng)中的一個重要研究方向,通過車輛編隊(duì)控制,能夠有效提高道路車輛密度,緩解交通擁堵；還可以主動控制車輛避免碰撞,提高交通的安全性；同時避免不必要的剎車和提速,進(jìn)而減少尾氣排放,實(shí)現(xiàn)節(jié)約能源保護(hù)環(huán)境的效果。本文主要針對車輛編隊(duì)的控制策略進(jìn)行研究,并根據(jù)不同的車輛模型和編隊(duì)要求設(shè)計(jì)出相應(yīng)的控制方法與策略�；趯�(shí)驗(yàn)室實(shí)車搭建車輛編隊(duì)控制平臺,對論文提出的控制算法與策略進(jìn)行了驗(yàn)證與實(shí)驗(yàn)。論文分別對智能車直線隊(duì)形編隊(duì),特定幾何隊(duì)形編隊(duì)以及彎道跟蹤編隊(duì)進(jìn)行了模型研究與控制方法設(shè)計(jì)與實(shí)現(xiàn),并針對非完整約束智能車編隊(duì)控制進(jìn)行了深入研究,提出了有效的控制方法,實(shí)現(xiàn)了較好的編隊(duì)效果。具體包括：對于多智能車直線隊(duì)形編隊(duì),論文首先對車輛運(yùn)動學(xué)模型進(jìn)行了分析,并基于一致性協(xié)議設(shè)計(jì)了車輛運(yùn)動控制器,實(shí)現(xiàn)了多智能車在直線上以相等速度和間距進(jìn)行編隊(duì)行駛。對于智能車特定幾何隊(duì)形編隊(duì),論文運(yùn)用虛結(jié)構(gòu)方法的設(shè)計(jì)思想進(jìn)行編隊(duì)運(yùn)動學(xué)模型分析,并基于PID控制方法,設(shè)計(jì)了車輛運(yùn)動控制器,實(shí)現(xiàn)了車輛的幾何隊(duì)形編隊(duì)。對于智能車彎道跟蹤編隊(duì),論文基于leader-follower法對編隊(duì)模型進(jìn)行分析,分別設(shè)計(jì)了leader的軌道跟蹤控制器和follower的跟車控制器,實(shí)現(xiàn)了多智能車的軌道編隊(duì)。對于非完整約束多智能車的編隊(duì),論文對非完整約束系統(tǒng)進(jìn)行了詳細(xì)研究,并基于坐標(biāo)轉(zhuǎn)換的思想,設(shè)計(jì)了車輛編隊(duì)控制器,實(shí)現(xiàn)了非完整約束多智能車的編隊(duì)效果。最后,論文基于MATLAB軟件對多智能車的編隊(duì)控制算法進(jìn)行了仿真驗(yàn)證。并且,基于VS2010軟件平臺開發(fā)了車輛編隊(duì)控制平臺軟件(MACP),該平臺基于先鋒系列機(jī)器人 AmigoBot,通過搭建基于WLAN的通信網(wǎng)絡(luò),設(shè)計(jì)了基于MFC的人機(jī)交互界面與控制中心,實(shí)現(xiàn)了論文設(shè)計(jì)的控制算法的驗(yàn)證與實(shí)車實(shí)驗(yàn)。
[Abstract]:With the improvement of social science and technology, the application of vehicle-road coordination system in the field of transportation is becoming more and more extensive, which is mainly reflected in three aspects: vehicle coordination safety, traffic coordination and control and integrated information service. Vehicle formation is an important research direction in vehicle-road coordination system. Through vehicle formation control, vehicle density can be effectively increased and traffic congestion can be alleviated. It can also actively control vehicles to avoid collision, improve traffic safety, and avoid unnecessary braking and speed increase, thereby reducing exhaust emissions. The effect of energy saving and environmental protection is realized. This paper mainly studies the control strategy of vehicle formation. The corresponding control methods and strategies are designed according to the different vehicle models and formation requirements. The vehicle formation control platform is built based on the actual vehicle in the laboratory. The control algorithm and strategy proposed in this paper are verified and experimented. The model research and control method design and implementation of intelligent vehicle linear formation, specific geometric formation and curved track tracking formation are carried out in this paper. Furthermore, the formation control of non-holonomic constrained intelligent vehicles is studied deeply, and an effective control method is proposed to achieve better formation effect, including: for multi-intelligent vehicle linear formation, Firstly, the vehicle kinematics model is analyzed, and the vehicle motion controller is designed based on the consistency protocol, which realizes the multi-intelligent vehicle moving in formation at the same speed and spacing on the straight line. In this paper, the virtual structure method is used to analyze the kinematics model of the formation. Based on the PID control method, the vehicle motion controller is designed to realize the geometric formation of the vehicle. In this paper, the formation model is analyzed based on leader-follower method, and the track tracking controller of leader and the controller of following vehicle of follower are designed, respectively, and the track formation of multi-intelligent vehicle is realized. In this paper, the nonholonomic constraint system is studied in detail, and based on the idea of coordinate transformation, vehicle formation controller is designed to realize the formation effect of multi-intelligent vehicle with nonholonomic constraints. In this paper, the formation control algorithm of multi-intelligent vehicle is simulated based on MATLAB software. Based on the VS2010 software platform, the vehicle formation control platform software is developed. The platform is based on the avantgarde series robot Amigo Bot. by building the communication network based on WLAN, the man-machine interface and control center based on MFC are designed. The verification of the control algorithm designed in this paper and the real vehicle experiment are realized.
【學(xué)位授予單位】：北京工業(yè)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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