Research On Multi-vehicle Cooperation Based On Mini Intelligent Vehicles

Multi-vehicle cooperation, a new resolution for Intelligent Transportation System's safety and efficiency, contributes to solve traffic problems such as accidents, congestion and environmental protection. However research on multi-vehicle cooperation places extra emphasis on software simulation, owing to real experiments' slow progress and high cost on people, time, and resource. For this reason, this thesis designs and implements a hardware simulation system for multi-vehicle cooperation based on mini intelligent vehicle.In order to enhance feasibility of hardware simulation system, mini intelligent vehicle is designed as experiment platform, which can simulate real intelligent vehicle in kinetics, navigation, localization. Towards typical traffic scenes with complicated network structure, this thesis constructs a dual-layer database for traffic map, and implements vehicle's longitudinal localization through combination of odometer and road sign detection without GPS function. Foundational design of multi-vehicle cooperative system is achieved on the basis of above designs.In order to meet multi-vehicle cooperative system's requirements for real-time, reliability and distributed property, this thesis constructs communication protocol architecture including physics and MAC layer. Mac protocol is based on RR-ALOHA. Inter-vehicle communication's real-time capability is enhanced through dynamic TDMA. Reliability and distributed property is enhanced through timeslot reservation and efficient broadcast mechanism. Upper MAC layer also provides interface for local multi-vehicle cooperative applications.On the basis of multi-vehicle cooperative system's implementation, this thesis does research on distributed cooperation algorithms in typical traffic scenes. A decision-making model is proposed based on fundamental driving manners. Algorithm based on LQ is designed for platooning and overtaking, which improves road operating factor and speed of traffic stream, guarantees vehicles' safety at the same time. Distributed algorithm based on conflict table is designed for cooperation systems in intersections, which enhances cooperative system's safety and flexibility in intersections. Based on abundant experiments, multi-vehicle cooperative system's feasibility and reliability is verified.