本文選題：自治交叉口　切入點：多Agent系統(tǒng)　出處：《大連理工大學》2014年碩士論文　論文類型：學位論文

【摘要】：具備精確控制與傳感能力的自治汽車的出現(xiàn),給安全駕駛帶來了新的希望。當前存在的人工智能技術已經能有效的解決自治汽車在開放道路中行駛問題。但面對情景復雜、擁堵較嚴重、交通事故多發(fā)的交叉口來說,車輛的安全和交叉口的通行效率目前都無法保證。本文介紹一種自治交叉口管理方案,嘗試利用全球定位技術、無線通訊技術、車內傳感和計算技術使得自治車輛能夠安全高效地通過交叉口。 控制策略作為整個自治交叉口管理系統(tǒng)的“大腦”直接影響系統(tǒng)的性能。本文提出了一種基于車路通信預留的控制策略Batch-Light,該策略能夠充分利用現(xiàn)有的智能交通領域的信號控制技術,自適應的應對不斷變化的交通流；建立時空板模型,對車輛的時空軌跡進行數(shù)據(jù)離散化建模；在時空板模型基礎上,提出一種貪心的沖突矩陣決策算法,在保證不同方向通行優(yōu)先權的前提下,使得更多的車輛預留成功。此外,為更大限度程度地提高路口的服務效率,減少時間和空間的浪費,本文又提出一種K平移優(yōu)化算法,來協(xié)助原本無法成功預留的車輛,盡量避免二次請求,通過加速或減速盡可能的通過交叉口。 本文還對自治交叉口仿真器AIM (Autonomous Intersection Management)進行了擴展,利用雙向耦合的仿真器互連技術,用NS3進行更逼真的網絡傳輸仿真取代AIM中簡單網絡傳輸模型,以實現(xiàn)具備反饋環(huán)的自治交叉口仿真。該工作用以支持研究不同的交通控制策略對數(shù)據(jù)傳輸?shù)男枨蟪潭?以及反過來網絡傳輸性能對交通控制效率的影響。 最后對本文的提出的控制策略在搭建的仿真平臺上進行仿真驗證,實驗結果顯示Batch-Light無論是在平衡的交通狀況下還是不平衡的交通狀況下都優(yōu)于FCFS (First Come First Served)和傳統(tǒng)的交通信號控制。而且Batch-Light的數(shù)據(jù)傳輸量較小,隨著噪聲的增加,服務效率雖然有所下降,但性能穩(wěn)定。而FCFS數(shù)據(jù)傳輸量很大,網絡性能對控制效率的影響不定,有時隨著丟包率的增加,控制效率反而會上升。
[Abstract]:The emergence of autonomous vehicles with accurate control and sensing capabilities has brought new hope to safe driving. The current artificial intelligence technology has been able to effectively solve the problem of autonomous vehicles driving on open roads. But the situation is complex. At present, the safety of vehicles and the efficiency of intersections can not be guaranteed. This paper introduces a management scheme of autonomous intersections, which tries to use global positioning technology and wireless communication technology. Internal sensing and computing technology enable autonomous vehicles to pass through intersections safely and efficiently. As the "brain" of the whole autonomous intersection management system, the control strategy directly affects the performance of the system. This paper proposes a control strategy Batch-Lightbased on vehicle-road communication reservation, which can make full use of the existing intelligent transportation. Field signal control technology, Adaptive response to ever-changing traffic flow; establishment of space-time board model to discretize the vehicle's space-time trajectory; based on the space-time board model, a greedy conflict matrix decision algorithm is proposed. In order to improve the service efficiency of intersection and reduce the waste of time and space, a K translation optimization algorithm is proposed in this paper. To assist vehicles that could not be successfully reserved, try to avoid secondary requests and cross intersections as much as possible through acceleration or deceleration. This paper also extends the autonomous Intersection management of autonomous intersections, using two-way coupling simulator interconnection technology, using NS3 to carry out more realistic network transmission simulation to replace the simple network transmission model in AIM. In order to realize the simulation of autonomous intersection with feedback loop, this work is used to support the study of the demand for data transmission by different traffic control strategies and the effect of network transmission performance on traffic control efficiency. Finally, the control strategy proposed in this paper is simulated on the built simulation platform. The experimental results show that Batch-Light is superior to FCFS first Come First Service and traditional traffic signal control in both balanced and unbalanced traffic conditions. Moreover, the amount of data transmission in Batch-Light is small, with the increase of noise. Although the efficiency of service is decreased, the performance is stable, while the amount of FCFS data transmission is very large, and the influence of network performance on control efficiency is uncertain. Sometimes, with the increase of packet loss rate, the control efficiency will increase.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U491.54

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本文編號：1567894