The Design Of Smart Car Network Control System And Research On The Effect Of Delay On Control Performance

Along with the development of information technology, network communicationtechnology, electronic sensor technology, control technology and computer technology,the intelligent transportation system (ITS) is booming, and the autopilot of vehicles isone of the key content of ITS’s researchs. Research on autopilot of single vehicletechnology has achieved some results, but the study of multi-vehicle coordinatedcontrol combined with the network communication technology and control technologyhas yet to be carried out. In the network control system, the delay is an important factoraffecting system performance and stability. Thus, research on network-based intelligentvehicle control technology and the effect of delay on control performance hastheoretical significance and practical value.In order to study issues related to the autopilot of vehicles, a smart car has beendeveloped to automatically driving in a simulated traffic environment. For that smartcars can not travel together at the set spacing, vehicle following can not be achieved.Therefore, this article focuses on the design and implementation of smart car networkcontrol system’s position detection, network communication and network control. Andaccording to the experimental results, analyze the impact of the delay on the systemperformance. Specific work mainly includes the following three aspects:Firstly, the position detection of the smart car on the test platform is designed andproven to work. The features of the collected pictures of the smart car on the testplatform are analyzed. After the analysis, the research brings in the principles and stepsof edge detection, and investigates in detail how the Canny edge detection works.Further more, the positioning of cars in the situation of VC++6.0and Open CV is alsorealized by the captured pictures of the smart cars on the test platform.Secondly, the research enforces the communicational programs based on streamsocket and datagram socket and makes a comparative analysis of their performance inthe experiment. After an introduction to the mechanism of TCP/IP protocol the thesisdistinguishes the one socket from another. And according to the mechanism of Socketcommunication and its program interface, the thesis integrates the exchange databetween the end of the smart car and the server, and elaborates the detailed process torealize these two socket communicational solutions and compares their time spent ondata transmission. And lastly, the research makes the network control of smart cars work by differentdrive modes. The drive modes of network node based on time and on events aredistinguished in advance, and the temporal diagram of data transmission by the drivemodes of C(E)+A(E) and C(T)+A(E) are presented. After that the network control ofsmart cars driven by these two modes are realized, and the impact of delay upon thecontrolling performance is analyzed through experiments.The experiments demonstrates that with the above-mentioned techniques ofposition detection, communicational program and network control the situation whereone smart car goes after another can be effectively simulated and thus the demand for afeasible system design can be met.