Study On Driving Consensus Control Of Multi-vehicles Cooperation In The Adjacent Area Of Traffic Signal Control With T-CPS View

In the adjacent area of traffic signal control,under the influence of dynamic changes of the signals that the continuous traffic flow become a form with periodically stop and go,and it easy lead to the waste of oil and even the traffic accident such as rear-end et al.Therefore,it is necessary to improve the traffic efficiency and safety by the mastering the internal rule of vehicles driving in the adjacent area of traffic signal control and exploring the corresponding control mechanism.The existing methods mainly from the aspect of assistant driving system and automatic driving system,then the speed guidance algorithm for vehicle's fuel consumption and time save and the centralized coordination control strategy for multi-vehicles are studied respectively.Actually,the vehicles' driving process in the adjacent area of traffic signal control which is relate to cooperation of vehicle to vehicle and vehicle to infrastructure naturally.Therefore,it is helpful for revealing the mechanism of vehicle driving in the adjacent area of traffic signal control from the idea of cooperative driving.At the same time,with the widely use of the information technology in the adjacent area of traffic signal control that the process of vehicle driving in the adjacent area of traffic signal control can be characteristic as a typical cyber-physical system.Therefore,from the aspect of integrate the cyber system and physical system and take the full advantages of transportation information system to realize the cooperation of transportation physical systems,and it is expected to become an effective method to resolve cooperate driving problem in the adjacent area of traffic control for new environment.To this end,here we take the cooperative driving consensus as the breakthrough point from the perspective of transportation cyber-physical system to study the cooperative control method for vehicles driving in the adjacent area of traffic signal control.At first,the qualitative and quantitative description method for cooperative driving consensus is proposed.Secondly,under the condition of transportation cyber-physical that a cooperative control method by the consideration of driving consensus for part of the vehicles is studied.Thirdly,for the condition that vehicles constrained by traffic signal,the cooperative optimal control scheme for optimizing single vehicle and multi-vehicles' driving consensus are studied.At last,the cooperative control method for vehicles with a cooperative vehicle to infrastructure leader from a transportation cyber-physical view,and the consensus analysis method for centralized and distributed cooperative driving system is studied.The main research work includes:(1)Based on the essential characteristic of the cooperative driving system,the qualitative and quantitative description method for driving consensus is proposed.The cooperative vehicle to vehicle is a hotspot for transportation cyber-physical system and it has been studied widely.Recent researches mainly focused on the cooperative method and the construct for cooperative system.However,the performance of the cooperative driving system is the core and foundation for the cooperative method and system,and establish a proper evaluation method for cooperative driving system is very important.In this thesis,a qualitative description method is studied based on the rules of disturbance propagation in cooperative driving system.Moreover,according to the dynamic characteristic of the cooperative driving system,a quantitative description method for driving consensus is established by the use of velocity difference and headway.At last,the relationship between driving consensus and traffic flow is analyzed through the simulations.(2)Considering the condition that part of the vehicles can be controlled in the traffic system,the driving consensus based cooperative control method is proposed from transportation cyber-physical system view.Due to the difficulty and cost of the vehicle control,a variable speed limit control based vehicle control framework is established,and the optimization objective is constructed by the use of neighbor vehicles' information and the driving consensus which has been defined in(1),and a nonlinear model predictive control based optimizing control method is established according to the vehicle's dynamic model which relate speed limit with vehicle's performance.At last,the cooperative driving system's performance is analyzed under the condition that part of the vehicles or vehicles in part of the road can be controlled.The simulation results demonstrated the effectiveness of the proposed cooperative control method.(3)Considering the constraints of dynamic traffic signal,the cooperative driving control method is established based on cooperative vehicle to vehicle and vehicle to infrastructure for vehicles driving in the adjacent area of traffic signal control.Based on the studied in(2),for the cooperative driving which constrained by dynamic traffic signal,the cooperative driving model is established for vehicles driving in the adjacent area of traffic signal control,and the driving consensus is analyzed based on the model,the result show that the process of traffic signals change affect the driving consensus obviously.Secondly,the optimizing control method for single vehicle is established by consideration of driving consensus from transportation cyber-physical system perspective.Moreover,aim at the condition that part of the vehicle can be controlled,the optimizing control method with the consideration of multi-vehicles' driving consensus is studied.At last,simulation results are provided to demonstrate the effectiveness and superiorityof our method.(4)Based on the leader vehicle with cooperative vehicle to vehicle and infrastructure,the cooperative control method for following vehicle in the adjacent area of traffic signal control is proposed from transportation cyber-physical view.Based on the studied in(3),the cooperative driving system for vehicles in the adjacent area of traffic signal control is rebuilt in a form which integrate distributed and concentrated control.The leader vehicle is controlled by the use of the scheme in(3),and take advantage of the transportation cyber-physical system,the cooperative control for following vehicles is proposed by the use of neighbor vehicles' states and control signals.Then,the communication time delays impact on consensus of the cooperative driving system is analyzed.Moreover,for the condition that the cooperative driving system with switch communication topology,by the use of Lyapunov theorem and linear matrix inequation that the condition for cooperative driving system achieve consensus is studied.The simulations demonstrate the validity and correctness of the theoretical analysis.In conclusion,the cooperative control method for vehicles driving in the adjacent area of traffic signal control by the consideration of driving consensus from transportation cyber-physical view is been studied deeply in this thesis.The description method for driving consensus and optimal control method with the consideration of driving consensus is been studied systematically.In addition,the theoretical analysis and simulation results provided to demonstrate the effective of the researches.The research results will expecte to provide new methods for the engineering practice of the cooperative driving system,and it can support the optimization control theory for transportation cyber-physical system.