本文選題：信息物理系統(tǒng) + 穩(wěn)定性��； 參考：《重慶大學(xué)》2015年博士論文

【摘要】：交通阻塞和擁堵問題其本質(zhì)是系統(tǒng)失穩(wěn)導(dǎo)致的。緩解交通擁堵就是要探索如何改進交通系統(tǒng)的穩(wěn)定性和提高抗干擾能力。因此,交通流穩(wěn)定問題在科學(xué)認(rèn)知交通擁堵事件生成機理,準(zhǔn)確預(yù)測其特征和演化路徑方面占有核心基礎(chǔ)地位。從系統(tǒng)的觀點,交通擁堵導(dǎo)致的根本原因是由于交通系統(tǒng)中各要素未能實現(xiàn)充分的協(xié)調(diào)與優(yōu)化,車流運行產(chǎn)生擾動且不能在擾動下保持自穩(wěn)定能力所致。因此要從根本上解決交通擁堵問題,其關(guān)鍵是要尋求一種能實現(xiàn)信息系統(tǒng)和物理系統(tǒng)深度融合與協(xié)作的理論。信息物理融合系統(tǒng)(cyber physical system,CPS)的出現(xiàn)為上述問題的解決提供了新途徑。信息物理融合引入到交通系統(tǒng)后,在信息空間中由傳輸網(wǎng)絡(luò)通信帶來的傳輸時延和丟包等不可靠性因素將不可避免和忽略。由于信息空間和物理空間深度融合的原因,交通信息空間的這些不可靠因素必然會映射到物理世界,作用于實際物理對象或過程,導(dǎo)致包括車車協(xié)同在內(nèi)的車流產(chǎn)生不穩(wěn)定和振蕩。由此可見,對于車車協(xié)同運行這類對控制品質(zhì)和穩(wěn)定性要求高的系統(tǒng)來說,不能忽視上述影響。然而,遺憾的是現(xiàn)有車車關(guān)系刻畫模型建立的多是物理模型,尚未深入對等考慮物理及信息二元之間的密切關(guān)系。這導(dǎo)致現(xiàn)有車車協(xié)同模型及其穩(wěn)定性研究成果難以刻畫信息空間傳輸不可靠因素帶來的沖擊效應(yīng)。基于此背景,本文在借鑒現(xiàn)有交通流理論研究成果的基礎(chǔ)上,圍繞車車協(xié)同的穩(wěn)定性問題,從信息物理融合的角度,重點研究信息空間傳輸不可靠性因素(時延和丟包)對車車協(xié)同物理過程穩(wěn)定性的影響,并采用理論分析和數(shù)值仿真手段,探索伴隨穩(wěn)定性變化的各種非線性現(xiàn)象。論文的主要工作如下:①考慮多前車平均速度信息,構(gòu)建了CPS下車車協(xié)同行駛模型。在此基礎(chǔ)上,獲得了多前車信息可靠性對車車協(xié)同穩(wěn)定性的影響規(guī)律。基于CPS信息的應(yīng)用,考慮多前車的平均速度信息對跟隨車操控穩(wěn)定性的影響,提出了新的車車協(xié)同行駛模型。運用線性穩(wěn)定性分析獲得了模型的線性穩(wěn)定性判據(jù)。運用非線性分析手段,導(dǎo)出了刻畫臨界點附近交通阻塞傳播規(guī)律的m Kd V方程,數(shù)值仿真和理論分析結(jié)果一致表明:多前車平均速度信息對車流穩(wěn)定性具有顯著改善作用。在此基礎(chǔ)上,引入多前車信息可靠性度量參數(shù),研究了多前車信息可靠度對車車協(xié)同的穩(wěn)定效應(yīng),結(jié)果表明:在同一CPS傳輸可靠程度下,車流的穩(wěn)定性隨著多前車數(shù)量的增加而逐漸增加;當(dāng)多前車數(shù)量固定時,交通系統(tǒng)的平均速度隨著CPS傳輸可靠程度的增加而逐漸提高。②針對帶超車情形的車車協(xié)同行駛場景,考慮CPS中網(wǎng)絡(luò)時延對其穩(wěn)定性的影影響,提出帶時滯的流量差格子模型,獲得模型的線性穩(wěn)定性判據(jù)及不穩(wěn)定區(qū)域交通阻塞的非線性特征。針對具有超車情形的Nagatani格子流體力學(xué)模型沒有涉及實際交通中的流量差效應(yīng),提出有超車情形的流量差格子模型。研究結(jié)果表明:流量差效應(yīng)對車流穩(wěn)定性及其非線性特性具有不可忽視的影響。在此基礎(chǔ)上,進一步考慮CPS中網(wǎng)絡(luò)時延對車車協(xié)同行駛車流穩(wěn)定性的影響,提出了有超車情形下的時滯流量差格子模型。獲得了模型的穩(wěn)定性判據(jù)和臨界點附近交通阻塞傳播演化規(guī)律。研究結(jié)果表明,車流穩(wěn)定性隨著CPS網(wǎng)絡(luò)時延的增加而逐漸降低。對于不穩(wěn)定區(qū)域車流,當(dāng)超車通過率較小時,不穩(wěn)定車流以m Kd V方程描述的扭結(jié)-反扭結(jié)波形式傳播;當(dāng)超車通過率較大時,相空間的不穩(wěn)定區(qū)域可進一步劃分為密度波特征區(qū)域和混沌特征區(qū)域。在密度波特征區(qū)域,失穩(wěn)車流以周期行為演化,而混沌特征區(qū)域失穩(wěn)車流展現(xiàn)出無序震蕩的混沌行為。③針對兩車道系統(tǒng)的車車協(xié)同場景,提出了考慮最優(yōu)流量差估計信息的車車協(xié)同行駛模型,在此基礎(chǔ)上,揭示了CPS中傳輸可靠性對宏觀車流穩(wěn)定性的影響規(guī)律�；贜agatani格子流體力學(xué)模型思想,考慮最優(yōu)流量差估計效應(yīng)對宏觀車流的影響,構(gòu)建了新的兩車道車車協(xié)同行駛模型。在此基礎(chǔ)上,獲得了兩車道系統(tǒng)車流的穩(wěn)定條件及描述交通阻塞演化規(guī)律的密度波方程。研究結(jié)果表明:兩車道間的換道效應(yīng)和最優(yōu)流量差估計信息協(xié)同作用可有效增強車流的穩(wěn)定性。引入概率參數(shù)表征了CPS的傳輸可靠性,并引入各路段車流密度分布均方差統(tǒng)計量,作為CPS傳輸可靠性下車流穩(wěn)定性的衡量指標(biāo)。研究結(jié)果表明,無論是否允許車輛換道,兩車道系統(tǒng)的車流穩(wěn)定性均隨著CPS傳輸可靠性的增加而提高。④基于CPS信息的應(yīng)用,提出了計及駕駛員預(yù)估效應(yīng)的前后車協(xié)同模型,在此基礎(chǔ)上,揭示了前后車協(xié)同穩(wěn)定性與車流能耗間的關(guān)聯(lián)關(guān)系。引入CPS系統(tǒng)采集的駕駛員預(yù)估信息,基于全速度差跟馳模型,提出了考慮駕駛員預(yù)估效應(yīng)的前后車協(xié)同模型。運用線性穩(wěn)定性定理獲得了模型的穩(wěn)定性判據(jù),結(jié)果表明,駕駛員預(yù)估效應(yīng)下的前后車協(xié)同能顯著提高車流穩(wěn)定性,降低交通系統(tǒng)能耗。在此基礎(chǔ)上,通過耦合車輛能耗公式,系統(tǒng)研究了前后車協(xié)同穩(wěn)定性與單車能量耗散和道路整體能量耗散的關(guān)聯(lián)關(guān)系。研究結(jié)果表明,車流穩(wěn)定性與能耗在時空演化過程中均展現(xiàn)出復(fù)雜臨界相變現(xiàn)象,且他們的相變過程具有顯著映射關(guān)系。綜上所述,本文從信息物理融合的角度建立了面向CPS的車車協(xié)同模型。在此基礎(chǔ)上,揭示了信息空間中傳輸不可靠性問題對車車協(xié)同物理過程穩(wěn)定性的影響規(guī)律。研究成果可望為CPS環(huán)境下車車協(xié)同行駛穩(wěn)定性的系統(tǒng)認(rèn)知提供支撐,為自動駕駛控制策略的設(shè)計提供一定的借鑒作用。
[Abstract]:The problem of traffic congestion and congestion is caused by system instability. To alleviate traffic congestion is to explore how to improve the stability of traffic system and improve the ability of anti-jamming. Therefore, the problem of traffic flow stability plays a key role in scientific cognition of the formation mechanism of traffic congestion events and the accurate prediction of its characteristics and evolutionary paths. From the point of view of the system, the root cause of traffic congestion is due to the failure of the full coordination and optimization of the elements in the traffic system, the disturbance of the traffic flow and the ability to maintain self stability under the disturbance. Therefore, to solve the traffic congestion problem fundamentally, the key is to seek a kind of information system and physics system. The emergence of cyber physical system (CPS) provides a new way to solve the problems mentioned above. After the introduction of Information Physics fusion to the traffic system, the unreliability factors such as transmission delay and packet loss in the information space will inevitably and overlook the unreliability factors. Because of the deep fusion of information space and physical space, these unreliable factors of traffic information space must be mapped to the physical world, acting on the actual physical objects or processes, resulting in the instability and oscillation of vehicle flow including car and car coordination. However, it is regrettable that the existing vehicle vehicle relationship depicting models are mostly physical models, and the close relationship between the two elements of physics and information has not been considered in depth. This leads to the difficulty of describing the unreliable factors in the transmission of information space by the research of the existing vehicle and car coordination model and its stability. On the basis of this background, on the basis of the existing traffic flow theory research results, this paper focuses on the influence of the unreliability factors (delay and packet loss) on the physical process stability of vehicle vehicles from the point of view of Information Physics fusion, and uses theoretical analysis and Analysis on the basis of the existing traffic flow theory research results. The main work of this paper is as follows: (1) considering the average speed information of the multi front vehicle, the cooperative driving model of CPS vehicle is constructed. On this basis, the influence of multi vehicle information reliability on the coordination stability of the vehicle is obtained. Based on the application of CPS information, the multi vehicle information reliability is considered. The influence of the average velocity information of the front car on the stability of the vehicle handling, a new model is proposed. Linear stability criterion is obtained by linear stability analysis. The m Kd V equation, numerical simulation and theoretical analysis are derived by using nonlinear analysis method. The results show that the multi front vehicle average speed information has a significant effect on the vehicle flow stability. On this basis, the multi front vehicle information reliability measurement parameters are introduced to study the stability effect of the multi front vehicle information reliability on vehicle coordination. The results show that the stability of the traffic flow is with the number of multiple front vehicles under the same CPS transmission degree. When the number of multiple front cars is fixed, the average speed of the traffic system increases with the increase of the reliability of the CPS transmission. Secondly, considering the effect of the network delay on the stability of the car and car in the case of overtaking, the delay lattice model with time lag is proposed, and the linear stability of the model is obtained. The qualitative criterion and the nonlinear characteristics of the unstable regional traffic congestion are not related to the flow difference effect in the actual traffic. The flow difference lattice model with the overtaking situation is proposed. The results show that the flow difference effect can not be used to deal with the stability and nonlinear characteristics of the Nagatani flow. On this basis, the effect of network delay on the stability of vehicle traffic flow in CPS is further considered, and a delay lattice model with time delay is proposed in the case of overtaking. The stability criterion of the model and the propagation evolution law of traffic congestion near the critical point are obtained. The results show that the stability of the vehicle flow is with the CPS net. For the unstable regional vehicle flow, when the overtaking rate is small, the unstable traffic flow is propagating in the form of the kink anti kink wave described by the m Kd V equation. When the passing rate is large, the unstable region of the phase space can be further divided into the density wave characteristic region and the chaotic characteristic region. In the region, the unstable car flow is evolutional with periodic behavior, and the chaotic characteristic region instability car flows out of chaotic behavior. Thirdly, based on the vehicle coordination scene of two lane system, a vehicle coordinated driving model considering the optimal flow difference estimation information is proposed. On this basis, the stability of the transmission reliability in the CPS is revealed to the stability of the macro traffic. Based on the Nagatani lattice fluid mechanics model thought, considering the effect of the optimal flow difference estimation effect on the macro traffic flow, a new two lane vehicle coordinated driving model was constructed. On this basis, the stability conditions of the two lane system and the density wave equation describing the evolution of the traffic stopper were obtained. The results showed that the density wave equation was used to describe the traffic stopper evolution law. The interaction between the two lanes and the optimal flow difference estimation information synergy can effectively enhance the stability of the vehicle flow. The probability parameters are introduced to characterize the transmission reliability of the CPS, and the mean variance statistics of the traffic density distribution in various sections are introduced as a measure of the stability of the traffic flow reliability of the CPS transmission. The traffic stability of the two lane system is increased with the increase of the reliability of the CPS transmission. (4) based on the application of CPS information, a model of front and rear vehicle coordination with the driver prediction effect is proposed. On this basis, the relationship between the coordination stability of the front and rear vehicles and the energy consumption of the traffic flow is revealed. The driving of the CPS system is introduced. Based on the full velocity difference model, a front and rear vehicle synergistic model considering driver prediction effect is proposed. The stability criterion of the model is obtained by using the linear stability theorem. The results show that the front and rear vehicle coordination under the pilot prediction effect can significantly improve the stability of the vehicle flow and reduce the energy consumption of the traffic system. Through the coupling vehicle energy consumption formula, the relationship between the coordination stability of the front and rear vehicles, the energy dissipation of the single vehicle and the overall energy dissipation of the road is systematically studied. The results show that the stability and energy consumption of the vehicle flow show a complex critical phase transition in the process of time and space evolution, and the phase transformation process has a significant mapping relationship. From the point of view of information physical fusion, this paper establishes a CPS oriented vehicle coordination model. On this basis, it reveals the effect of transmission unreliability in the information space on the stability of the vehicle's coordination physical process. The research results are expected to provide support for the system cognition of the coordination stability of the vehicle in the CPS environment, and for automatic driving control. The design of system strategy can be used for reference.

【學(xué)位授予單位】：重慶大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：U495

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2 趙培豐;非常規(guī)道路的機動車碳排放數(shù)值模擬分析[D];山東大學(xué);2015年

3 徐曉丹;城市隧道出入口交通流擁擠問題研究[D];南京林業(yè)大學(xué);2015年

4 楊江波;基于HMM的短時交通狀態(tài)預(yù)測研究[D];太原理工大學(xué);2013年

5 姜茹嫣;基于元胞自動機的信號交叉口交通流的研究[D];重慶交通大學(xué);2015年

6 張錦龍;高速公路特殊路段交通流仿真研究[D];蘭州交通大學(xué);2015年

7 陸靜曄;基于代理的交通流建模研究[D];南京郵電大學(xué);2015年

8 周悅;基于預(yù)測控制的道路交通生態(tài)控制方法研究[D];浙江工業(yè)大學(xué);2015年

9 李梅;存在擁堵路段的道路網(wǎng)交通流分配模型及其應(yīng)用研究[D];北京交通大學(xué);2016年

10 張勇;交通流混沌的小樣本判定方法[D];天津大學(xué);2007年

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