發(fā)布時(shí)間：2018-07-29 10:38

【摘要】：作為智能交通系統(tǒng)(Intelligent Transportation Systems,ITS)的一個(gè)重要研究領(lǐng)域之一,自動(dòng)化高速公路系統(tǒng)(Automated Highway Systems,AHS)因其能提高交通運(yùn)營效率、改善交通安全、降低能源消耗、減少交通事故等眾多優(yōu)點(diǎn)而成為當(dāng)前的一個(gè)研究熱點(diǎn)。實(shí)現(xiàn)自動(dòng)化高速公路系統(tǒng)的一個(gè)主要手段就是基于車輛控制系統(tǒng)(Vehicle Control System,VCS)的自主車隊(duì)控制(Automated Vehicle Control Systems,AVCS)的方法,通過對(duì)車輛自身行駛狀況(如車輛速度、加速度以及橫向誤差等)和前方行駛環(huán)境的測量(如車間距離、相對(duì)速度、領(lǐng)車加速度等),最終采取措施(轉(zhuǎn)向、油門、剎車等)對(duì)車輛進(jìn)行控制,進(jìn)而達(dá)到上述目的。本文在分析梳理現(xiàn)有的自動(dòng)化高速公路系統(tǒng)研究成果的基礎(chǔ)上,對(duì)自主車隊(duì)建模與控制這一課題進(jìn)行了深入的研究,并針對(duì)其可能面臨的通信網(wǎng)絡(luò)丟包等新情況,研究了一種能保證系統(tǒng)穩(wěn)定的解決辦法,主要內(nèi)容如下:1、研究現(xiàn)狀分析。比較全面地概述了自主車隊(duì)建模與控制的基本概念、具體方法、研究現(xiàn)狀以及存在的問題等。2、車輛縱橫向建模。在分析總結(jié)現(xiàn)有的自主車輛縱橫向模型優(yōu)缺點(diǎn)的基礎(chǔ)上,從優(yōu)化現(xiàn)有模型、利于控制器設(shè)計(jì)的角度出發(fā),提出了本文所用的模型,其中主要包括基于橫向誤差的車輛橫向的動(dòng)力學(xué)模型、基于牛頓第二運(yùn)動(dòng)定律的車輛縱向的動(dòng)態(tài)模型以及整個(gè)車隊(duì)的結(jié)構(gòu)模型。3、理想通信下自主車隊(duì)的控制。在理想的通信網(wǎng)絡(luò)條件下,對(duì)橫向控制,分別采用基于橫向誤差的狀態(tài)反饋控制和基于預(yù)瞄跟隨模型的輸出反饋的方法設(shè)計(jì)車道保持(Lane Keeping System,LKS)控制器,然后仿真分析了狀態(tài)反饋時(shí)穩(wěn)態(tài)誤差出現(xiàn)的原因。對(duì)于縱向車隊(duì)控制,則分別利用PID控制、李雅普諾夫控制的方法進(jìn)行了車隊(duì)控制器的設(shè)計(jì),然后利用仿真分析了車隊(duì)的整體穩(wěn)定性和在兩種縱向控制方法下的差異,如對(duì)初始車間距離誤差的響應(yīng)、對(duì)領(lǐng)隊(duì)車輛速度變化的適應(yīng)性以及對(duì)車輛不確定因素的魯棒性等。4、通信網(wǎng)絡(luò)影響下自主車隊(duì)的控制。在車間通信網(wǎng)絡(luò)丟包影響的環(huán)境下,將領(lǐng)隊(duì)車輛信息丟包考慮為隨機(jī)伯努利模型,然后建立了縱向車隊(duì)混合控制的模型,在此基礎(chǔ)上設(shè)計(jì)了保證系統(tǒng)穩(wěn)定的動(dòng)態(tài)輸出反饋控制器;進(jìn)一步考慮丟包和領(lǐng)隊(duì)車輛的變速干擾同時(shí)存在的問題,利用LMI方法給出了H∞控制器存在條件,并進(jìn)行了仿真驗(yàn)證。最后對(duì)全文工作進(jìn)行了梳理和總結(jié),概述了一些仍需進(jìn)一步研究的問題。
[Abstract]:As one of the important research fields of Intelligent Transportation system (Intelligent Transportation), automatic Expressway system (Automated Highway) can improve traffic efficiency, improve traffic safety and reduce energy consumption. Reducing traffic accidents and many other advantages has become a research hotspot. One of the main ways to realize the automatic highway system is to control the (Automated Vehicle Control system of the autonomous motorcade based on the vehicle control system (Vehicle Control system. Acceleration and lateral error) and the measurement of driving environment (such as workshop distance, relative speed, acceleration etc.), finally take measures (steering, throttle, brake, etc.) to control the vehicle, so as to achieve the above purpose. On the basis of analyzing and combing the research results of the existing automated highway system, this paper makes a deep research on the subject of autonomous motorcade modeling and control, and aims at the new situation such as the communication network packet loss that it may face. A solution to ensure the stability of the system is studied. The main contents are as follows: 1. The basic concepts, specific methods, research status and existing problems of autonomous vehicle fleet modeling and control are summarized in this paper. On the basis of analyzing and summarizing the advantages and disadvantages of the existing longitudinal and horizontal models of autonomous vehicles, the model used in this paper is put forward from the point of view of optimizing the existing models and facilitating the design of the controller. It mainly includes the lateral dynamic model of vehicle based on transverse error, the longitudinal dynamic model of vehicle based on Newton's second law of motion and the structural model of the whole fleet. Under the ideal communication network condition, the state feedback control based on lateral error and the output feedback method based on preview follow model are adopted to design the (Lane Keeping system LKS) controller for lateral control, respectively. Then the reason of steady state error in state feedback is analyzed by simulation. For longitudinal fleet control, PID control and Lyapunov control are used to design the vehicle fleet controller, and then the overall stability of the team and the difference between the two longitudinal control methods are analyzed by simulation. For example, the response to the initial workshop distance error, the adaptability to the speed change of the leader vehicle and the robustness to the uncertain factors of the vehicle, etc., and the control of the autonomous motorcade under the influence of the communication network. Under the influence of workshop communication network packet loss, the leader-vehicle information loss model is considered as a stochastic Bernoulli model, and then a longitudinal vehicle mixed control model is established. On the basis of this, a dynamic output feedback controller is designed to ensure the stability of the system, and the problem of varying speed disturbance of lost packet and leader vehicle is further considered, and the existence condition of H 鈭，

本文編號(hào)：2152414