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The Distribution Optimization and Cooperative Control of Multiple Autonomous Vehicle System in Resource-limited Environment

Author: WangLei
Tutor: TianYanTao
School: Jilin University
Course: Control Theory and Control Engineering
Keywords: State Estimation Collision Avoidance Lane changing and Overtaking Task Allocation
CLC: U495
Type: Master's thesis
Year: 2013
Downloads: 21
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Abstract

The cooperation of multiple autonomous vehicles and related technologies is one of themost popular directions in the Intelligent Transportation System. Multi-autonomous vehiclesystem is used for theoretical study and the conclusions are verified in the laboratory. Therelated researches are positive for the development of ITS. The distribution optimization andcooperative control of multiple autonomous vehicle system is studied in resource-limitedenvironment, including vehicle safety control, lane changing and overtaking. The mainstudies are as follows:(1)、In order to verify the safety of vehicle cooperation, experimental platform is built.Many modules are developed, for example, the visual system, positioning system, wirelesscommunication system and distance measuring module, the steering control system anddriving system are also designed. The typical roads and electronic maps are established inorder to form the experimental platform.(2)、The vehicle collision avoidance algorithm based on state estimation is developedby introducing the concept of force field and warning function in the roundabout. Thedesired trajectory is an array stored in memory, the choice of target point array determinesthe vehicle trajectory. According to the predictive value and measurement of positioningsystem, the autonomous vehicle implements path following algorithm by estimating thestates. A rectangle on the position plane is used to describe conflict area, and themulti-vehicle autonomous system model is established. By selecting the safety operationmode, vehicles can be away from the conflict area and pass the merging points byimplementing collision avoidance algorithm.(3)、Lane changing and overtaking is studied in this work. The minimum safe distanceis proposed in order to ensure the safety of lane changing. The safety of the process isknown by studying the vehicle states. If the vehicle does not meet the safety conditions, thestates of the vehicle are adjusted to meet the minimum safety distance requirement. Whenthe vehicle has the intention of lane changing, the target point is selected for trajectoryplanning. Overtaking is divided into changing lane, exceeding the target and returning thelane. The security conditions must be calculated for each stage and the correspondingtrajectory also should be calculated at the same time. The trajectory of overtaking iscomposed by them.(4)、In order to study the methods of task allocation, vehicles and transport tasks arecombined. Two-dimensional mathematical model are used to study the task allocation. Thebest solution of the task allocation is given based on the performance index. In resourcelimited environment, the number of vehicles is much smaller than the number of tasks, traditional task allocation algorithm is inefficient. Therefore, allocation algorithm of biddingis proposed. Two performance indicators are designed, one indicator is the running totaldistance BMS, and another is the running time BMM. The parameterα is used to take intoaccount the running distance and running time at the same time.In summary, the main work of this paper is to complete autonomous vehicle hybridsystem modeling, state estimation, and security control, and lane changing and overtakingwill be studied. Finally, the optimal allocation is designed.

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