Research On Vehicle-To-Infrastructure Cooperation Simulation System Using Electromagnetic Navigation

Vehicle-to-Infrastructure cooperation system has become the forefront of technology and research focus in the field of intelligent transport system. It plays an important role in easing the road congestion, increasing the road capacity and improving the traffic safety. The cost is too high in the research of cooperative vehicle infrastructure system using actual intelligent vehicle. However, the experimental environment is ideal in software simulation. For these reason, this thesis designs and implements a hardware simulation system for vehicle-to-infrastructure cooperation system.The hardware simulation system designed in this thesis consists of mini intelligent vehicle system and road infrastructure system. The mini intelligent vehicle use electromagnetic navigation, owing to the poor reliability for visual navigation. The mini intelligent vehicle implements its longitudinal localization through combination of odometer and road sign detection using RFID,and the communication between vehicles is based on WiFi wireless transmission technology. In summary, The mini intelligent vehicle can simulate real intelligent vehicle in kinetics, navigation, localization and wireless communication.By comparing the different design solution of signal generator, a sine signal generator based on MAX038 is designed to produce a certain frequency AC power to drive the guide line. The basic research content includes sine signal generator and current amplification module, current and frequency measure module, human-computer interaction module. The signal generator provides close-loop stable control of frequency, to make the frequency output smoothly. The experiment revealed that the signal generator could generate a sine signal with high precision and steady that meet with theoretical design.Intelligent vehicles'cooperative driving in intersection can reduce the congestion occurs and improve the passing rates. The thesis introduces an algorithm based on dynamic game for intelligent vehicles cooperation at the unsignalized intersection. Conflict between intelligent vehicles is described by using field graph tool. A conflict avoidance algorithm was built up with dynamic game theory. The hardware simulation system designed in this thesis is used to test the algorithm. The algorithm not only coordinates the intelligent vehicles among intersection without collision,but also improve the passing rates by about 40% compared to the collision table based algorithm. The thesis presents an algorithm based on reactive multi-agent system to the overtaking problem of vehicle. During the overtaking process, the overtaking vehicle creates a virtual environment based on vehicle's perceptions of the material environment around it. A decision vector for the vehicle is elaborated from the evaluation of a set of indicators characterizing the global state of a system of reactive agents (RMAS), which is evolve in the virtual environment. Agent-to-agent and agent-to-environment interactions are inspired by physics, in order to produce a distribution of agents over the virtual environment. Experiments show that the algorithm can guarantee the safety of vehicle during the overtaking process.