【摘要】：隨著多維感知、智能駕駛、移動通信等技術的發(fā)展進步,智能化的無人車輛已逐步成為現實,并在智能交通系統(tǒng)中發(fā)揮著重要作用。目前無人車的自主行駛技術日趨成熟,而基于V2V、V2I等通信技術的多車自主協(xié)同問題正成為智能交通領域的研究熱點。本文依托國家自然科學基金課題、法中博士后科學與應用基金博士后研究課題等,結合未來智能交通系統(tǒng)中的多異構無人車協(xié)同場景,研究并提出了面向集中式協(xié)作的優(yōu)先級調度算法,以保證系統(tǒng)中高優(yōu)先級車輛的通過效率。本文首先對交通系統(tǒng)中的基本對象進行了分析建模,并在分析無人車運動的時空域特征基礎上,定義了V2I消息類型和通信機制,建立了無人車動作狀態(tài)模型和支持消息預約及優(yōu)先級調度的數學模型;其次,將物理環(huán)境與無人車運動特性相結合,設計了面向預約的無人車集中式調度機制;在深入分析高優(yōu)先級無人車的直接、間接阻塞原理之后,提出了基于時間窗口的全局延遲時間評估方法,進而設計了基于繼承的無人車優(yōu)先級動態(tài)管理機制;面向單臨界區(qū)、多臨界區(qū)等不同場景研究并設計了基于優(yōu)先級繼承的多無人車調度算法。最后,基于Windows平臺開發(fā)了模擬仿真軟件,實現了論文所研究并設計的模型、機制和算法,以支持對研究工作的實驗驗證及評估。實驗結果表明,本文所設計的交通對象模型可以有效刻畫復雜交通環(huán)境并支持異構無人車協(xié)作機制的研究;所提出的調度算法較現有基于到達時間或隊列長度等的調度方法而言,均可有效降低高優(yōu)先級車輛的延遲時間,滿足交通系統(tǒng)對多異構無人車的調度需求�？傮w上,本文研究工作對智能交通領域的多車協(xié)同等相關研究具有實際意義和參考價值。
[Abstract]:With the development of multi-dimension perception, intelligent driving, mobile communication and other technologies, intelligent unmanned vehicles have gradually become a reality and play an important role in the intelligent transportation system. At present, autonomous driving technology of unmanned vehicles is becoming more and more mature, and the problem of multi-vehicle autonomous collaboration based on V2V / V2I and other communication technologies is becoming a research hotspot in the field of intelligent transportation. Based on the project of the National Natural Science Foundation and the postdoctoral research project of the Law and Application Foundation, this paper combines the multi-heterogeneous unmanned vehicle collaboration scene in the future intelligent transportation system. A centralized collaborative priority scheduling algorithm is proposed to ensure the efficiency of high priority vehicles in the system. In this paper, the basic objects in the traffic system are analyzed and modeled, and the V2I message type and communication mechanism are defined on the basis of analyzing the space-time domain characteristics of the motion of the unmanned vehicle. The action state model of UAV and the mathematical model supporting message reservation and priority scheduling are established. Secondly, the centralized scheduling mechanism for UAV is designed by combining the physical environment with the motion characteristics of UAV. After deeply analyzing the direct and indirect blocking principle of high priority unmanned vehicle, a global delay time evaluation method based on time window is proposed, and then a dynamic management mechanism based on inheritance is designed, which is oriented to single critical region. The multi-vehicle scheduling algorithm based on priority inheritance is studied and designed in different scenarios such as multi-critical region. Finally, the simulation software based on Windows platform is developed, and the model, mechanism and algorithm studied and designed in this paper are implemented to support the experimental verification and evaluation of the research work. The experimental results show that the traffic object model designed in this paper can effectively describe the complex traffic environment and support the research of the cooperation mechanism of heterogeneous unmanned vehicles. Compared with the existing scheduling methods based on arrival time or queue length, the proposed scheduling algorithm can effectively reduce the delay time of high-priority vehicles and meet the scheduling requirements of multi-heterogeneous vehicles in traffic systems. In general, the research work in this paper has practical significance and reference value for the research of multi-vehicle coordination in the field of intelligent transportation.
【學位授予單位】：西北工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U495;U463.6

【參考文獻】

相關期刊論文 前2條

1 何克忠;;清華智能車技術研究[J];中國新技術新產品;2012年02期

2 楊瓊;沈連豐;;車載自組織網絡的體系結構和通信協(xié)議研究[J];中興通訊技術;2011年03期

相關博士學位論文 前1條

1 孫振平;自主駕駛汽車智能控制系統(tǒng)[D];國防科學技術大學;2004年

相關碩士學位論文 前2條

1 鄒博維;基于多傳感器的車輛局部交通環(huán)境感知[D];吉林大學;2013年

2 肖已達;面向城區(qū)綜合環(huán)境的無人駕駛車輛平臺及關鍵技術研究[D];上海交通大學;2013年

，

本文編號：2154590