Design And Implementation Of Intelligent Vehicles Formation For Vehicle Infrastructure Cooperative

With the improvement in the level of social technology, it is used more and more widely of vehicle infrastructure cooperative system in the field of traffic. It mainly manifests in three aspects, including coordination of vehicle safety, traffic coordination control and integrated information service. These play a significant role in improving the traffic efficiency and safety. It is an important research direction of vehicles formation in vehicle infrastructure cooperative system. The vehicle density can be effectively improved and traffic congestion can be eased, through the control of vehicle formation. It also can actively avoid vehicle collision and improve traffic safety. At the same time, it can avoid unnecessary brake and speed, and reduce exhaust emissions, then achieving the effect of saving energy and protecting environment.This paper studies the control strategy for the vehicle formation and designs the corresponding control methods and strategies depending on the vehicle model and formation requirements. We build a formation control platform based on laboratory car. These control algorithms and strategies in the paper are validated with experiments in the platform. This paper studies the formation model of linear formation, specific geometry formation and curve track formation and designs the corresponding control methods. The paper studies the issue of nonholonomic constraints intelligent vehicle formation control. On this basis, this paper proposes an effective control method and achieves good effect in formation.For the intelligent vehicles linear formation, the paper establishes kinematics model of vehicles. Then the paper designs motion controller based on consensus protocol. In the last, the formation is realized that multi intelligent vehicles travel at the same speed and spacing. For the intelligent vehicles specific geometry formation,this paper analysis the kinematics model of vehicles based on virtual structure approach and designs the motion controller based on PID algorithm. The intelligent vehicles can behave geometry formation during the movement. For the intelligent vehicles curve track formation, this paper analysis the kinematics model based on leader-follower approach. Then the paper designs the trajectory tracking controller of the leader and the vehicle tracking controller of the followers. The orbital track formation is realized of the multi intelligent vehicles. For the formation of the nonholonomic constraints intelligent vehicle, this paper does more studies on the modeling and motion controller. The paper uses the idea of coordinate conversion on the analysis of kinematics model. The controller is designed based on target tracking and consensus protocol. Under the controller the intelligent vehicles can realize good effect of the formation.Finally, this paper does many simulations on MATLAB about the algorithms which are presented in the paper for formation control. And a multi-agent control platform is developed based on VS2010. We use AmigoBot as the executive terminal.The communication networks are built based on WLAN and the interactive interface is developed based on MFC. The control algorithms are verified on the laboratory intelligent cars.