Modeling And Design Of Cooperative Vehicular Platoon System Based On Zynq/SoC

As one of the most important research topics in the field of Intelligent Transportation System(ITS),Cooperative Vehicular Platoon System is an effective method to solve the multi vehicles coordinated control in the road environment.Cooperative Vehicular Platoon System is helpful to solve practical problems such as traffic accidents,road congestion,energy saving and environmental protection.So C(System on Chip)has been developed as a fully programmable system on chip,which integrates processor and FPGA(Field-Programmable Gate Array).It has advantages of hardware acceleration and high flexibility for dealing with complex data interaction in cooperative vehicular platoon system,and it can effectively solve the problems of heterogeneous network convergence,information processing and communication security troubles.For this reason,this paper designed a multi-vehicle cooperative system model based on the Zynq/SoC,and put forward the simulation platform composed of micro intelligent vehicles in the laboratory environment.The main contents of this paper are as follows:(1)A cooperative vehicular platoon system model isdesignedbased on Zynq/SoC.The vehicle system based on Zynq is fused with the multi vehicle cooperative system,and the system cooperative control is combined with the vehicle following algorithm.ZigBee wireless network is used to communicate and interact with each vehicle,so that the vehicle is able to perceive the surrounding environment information in time to make appropriate adjustments to achieve faster and more secure data transmission between multiple vehicles to ensure the stability and flexibility of the cooperative vehicular platoon system.(2)Thispaper proposed a Leader-following algorithmwithVehicle-to-Vehicle(V2V).The Leader-following algorithm does not need global information and it is more suitable for cooperative vehicular,while its core idea is that the follower is followed by leader in accordance with the desired position and attitude in the platoon.The robustness of the system is highly dependent on the robustness of the leader.Aiming at this shortcoming,thispaper designed a PD control algorithm based on the leader-following and presented the vehicle longitudinal control algorithm.The simulation experiments were carried out under the open source software for the following strategy and results showed the effectiveness of the proposed algorithm.After that,the cooperative algorithm was encapsulatedinto the IPcore of the Zynq standard and embed it into the cooperative vehicular platoon system.(3)To verify the multi-vehicle cooperative system,reduce the error of numerical simulation,and avoid the problem of high complexity and high cost of the real vehicle experiment,this paper built a SoC verification platform composed of micro-intelligent vehicles.Through the Vivado development kit designed micro intelligent vehicle based on Zynq-7000,using hardware and software co-design method to design and implement of the host computer and the software system of the intelligent vehicle,the host computer can observe traffic and controlintelligent vehicle in real time.The collaborative algorithm of this paper is transplanted into the verification platform,and the cooperative vehicular platoon system is tested and verified in a laboratory environment.Finally,the paper simulated various traffic scenes in the laboratory to demonstrate the model of the cooperative vehicular platoon system.Based on abundant experiments,the system's feasibility and reliability is verified.The system not only reduces the cost and the risk of the experiment,but also can be transplanted to the real vehicle experiment directly,and it provides a solution for multi-vehicle collaborative research in typical traffic environment.