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Research on the Method of Control Modeling of Vehicle Merging in Intelligent Vehicle-road System

Author: HeZhiWei
Tutor: WuQing
School: Wuhan University of Technology
Course: Logistics Management
Keywords: vehicle merging multi-agent system (MAS) contrast net protocol generalized partial global planning (GPGP)
CLC: U463.6
Type: Master's thesis
Year: 2009
Downloads: 187
Quote: 1
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Abstract


In intelligent vehicle-road system environment,vehicle platoon driving not only can increases the density of vehicles and augments road capacity,but also simplifies the complexity of traffic control,increases the controllability of traffic and enhances road safety.Vehicle merging is a very important platoon driving behavior,derived from vehicle platoon driving.Combined with vehicle splitting and vehicle changing lane,it will be able to greatly improve flexible and flexibility of the platoon driving, and will enable the advantages of vehicle platoon driving moving into full play.In this paper,the control model of vehicle merging is discussed under intelligent vehicle-infrastructure system environment.There is great relevance between the longitudinal control of the platoon and the control of vehicle merging,in a sense,the control of the vehicle merging is built on the basis of the longitudinal control of the platoon.So in this paper the longitudinal control of the platoon were discussed before the control of vehicle merging.The two-layer adaptive fuzzy control algorithm is applied to the longitudinal control of the platoon driving,which can better suppress fluctuation of headway distance and speed,and improve the stability of the platoon driving effectively.So Interference is reduced greatly;a good environment is created for the vehicle merging.In this paper,the theories and methods of MAS(multi-agent system) are applied to analyze the control of the vehicle merging.A model of vehicle merging based on the MAS is built,and the process of the model running is expounded.In addition,the concept of Agent role model is introduced to reduce the complexity of model and the difficulty to achieve,improving the efficiency model in the modeling process.The coordination mechanism is the most important part of the MAS model. After a comparative analysis the advantages and disadvantages of the coordination mechanism of MAS,in accordance with the consultation characteristics of vehicle merging model,the coordination framework model is built by combined the contract net protocol(CNP) and the generalized partial global planning(GPGP) in this paper. In the framework,tasks are allocated reasonably by given full play of the dynamic and flexibility of task distribution of CNP,and the Dependence of coupling degree of task decomposition is reduced by given full play of GPGP to thinking about the association between tasks and the association between agents,to enhance the open and robustness of system and optimize the overall system performance.Finally,some key issues about the implementation of vehicle merging are discussed.By combined the concept of virtual-car with vehicle longitudinal control, the control of vehicle relative position is realized better.Road space length needed for vehicle lane-changing is discussed and calculated in several typical Situations of vehicle merging.The curve algorithm based on polynomial is applied for Vehicle lane-changing path planning.In addition,the implementation of simulation program of vehicle merging is explored,and some simulation of several typical situations of vehicle-merging is carried out,simulation results show the feasibility of the vehicle merging model.

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