Research On Coordinated Traffic Mechanism Of Driverless Vehicles In Narrow Road Under Vehicle-Road Cooperation

With the wireless communication technology and other relative technologies has developed rapidly,unmanned vehicles no longer rely on their own sensors to obtain information.For example,a large number of road information around the car body can be obtained in advance through V2 X,which is very conducive to the driving of the vehicle.In this way,the effect of traffic safety can be achieved,and it can have high efficiency driving,lower energy conservation and lower environmental protection.The existing research focuses on the collaborative vehicle lane change and the collaborative control of intersections.Nowadays,there is little research on how to drive vehicles efficiently in very narrow roads.At the same time,communication technology is more and more widely used in the field of automatic driving.Therefore,this paper studies how to achieve very powerful cooperative driving in narrow road section under the condition of vehicle V2 X capability.Firstly,the related technologies that can make vehicles connect to the network was described,and the scene that can be composed when there are many vehicles driving on the road was studied at the same time.After understanding these,it extended the research idea of traffic scene coordination on narrow road.the paper models the coordinated movement behavior of vehicle narrow road was modeled in the paper.The appropriate mathematical model for the maintenance of longitudinal safety distance,curve movement of vehicle and running speed of vehicles were established.The paper studied the vehicle following model based on Gipps model,and the development of the model in sumo.Then,Combined with the bicycle model,this paper deduced the process of obtaining the rotation angle of the front wheel.Finally,the process of obtaining vehicle speed by CSH algorithm was studied.Then,the traffic control method of vehicles in narrow section was studies,and the motion law of the vehicle group was introduced,the model of the vehicle group was established,and a narrow road cooperative speed coordination algorithm was put forward.Through this algorithm,the control of vehicle speed can achieve the effect of grouping clusters.The paper also introduced the traffic control strategy based on Cooperative speed coordination,and analyzed the formation of vehicles The conditions required by cluster can further clarify the multi-vehicle joint control method and its flow and pseudo code.Then,combined with SUMO platform and MATLAB platform,the simulation was carried out.The scene was established in sumo,and the coordination mechanism of narrow road was realized by MATLAB.Through Trace4 matlab interface,MATLAB algorithm was used to control vehicle motion.The simulation results showed that the vehicles had higher traffic efficiency under the action of coordinated traffic mechanism in narrow road.Finally,the vehicle narrow road coordinated traffic control system was designed to control the motion of the modified driverless vehicle.The overall scheme of the system was designed,and Android studio and eclipse were selected for application development.The whole process used Java language.The control protocol of vehicle was interpreted and the feasibility of communication link was verified.Finally,the control command was sent to the real vehicle.Through the system designed in this paper,the speed control was achieved and the narrow road coordinated traffic mechanism was successfully applied to real vehicles.