Research On Multi-Vehicle Cooperation Algorithms Based On Intersection And Hardware Simulation

For most congestion and traffic accidents happen at the intersection, multi-vehicle cooperation is studied to improve pass-through efficiency of the intersection and ensure the overall traffic safety, thus achieving the purpose of energy conservation and environmental protection. The research of multi-vehicle cooperation needs to build the experimental system. Due to the high cost of actual intelligent vehicle and ideal environment of software simulation, this thesis designed and implemented a hardware simulation system for multi-vehicle cooperation.In order to ensure the hardware simulation system has the characteristics of the actual system, by analyzing the structure and function of the actual vehicle, the architecture of simulation platform is designed into simulation vehicle system and road infrastructure system. As the global location information is important to multi-vehicle cooperation, towards typical traffic scenes, this thesis constructs the map data format. After the above designs, it is easy to implement the hardware simulation system. The system can accelerate the research of multi-vehicle cooperation.A coordination methodology based on optimal control is proposed for platoons of vehicles to reduce the time passing through the signalized intersection. The linear model of the platoon is derived. By applying the optimal output tracking control algorithm to the system model and by choosing the weight matrixes according to the safe distance, the optimal control rate is acquired, then critical parameters is obtained by analysis stability of the platoon. The method can ensure the platoon achieve the target cruising speed as soon as possible and guarantee the safety of vehicles. The application results of the controller illustrate the effectiveness of the proposed methodology.In order to avoid the collision of vehicles at the unsignalized intersection and ensure vehicles pass through the intersection as soon as possible while the conflicts between vehicles exist, a coordination algorithm is proposed. The conflict is determined by the field map, acquiring the conflict point. According to the criteria of priority, the conflict vehicles have different priorities. The low priority vehicle needs to change the speed to avoid the collision. Finally, the effectiveness of the proposed algorithm is verified by experiment.