Hardware-in-loop Simulation Based Cooperative Vehicle Infrastructure System

As an important way to solve the problem of traffic congestion, safety and environmental issues, the Cooperative Vehicles Infrastructure System(CVIS) is attracting more and more attention and has become a research hotspot in the field of transportation. The research about cooperative vehicle infrastructure in the real traffic scene faces many of the issues such as high construction cost, maintenance complex, experimental risk, etc. The software simulation experiment has idealized modeling problem, and ignores the influence of the physical characteristics of the human vehicle road on the model results.In view of the above problems, the paper combines with the actual structure of CVIS to build physical models: miniature road sand table, intelligent vehicle model, location and communication. The hardware-in-loop simulation based CVIS is built in the laboratory and closes to the real environment. Not only the system reduces the cost and risk of the experiment, but also can make research on modeling, simulation and control about vehicle road coordination problems under typical traffic scenarios in the situation of closing to the real traffic environment, which provides strong theoretical support and technical reserving for the CVIS actual research.At first, the hardware-in-loop simulation based CVIS is built. The system consists of control module, the indoor localization based on UWB, ZigBee communication, intelligent vehicles models. This paper designs hardware-in-loop simulation system based on hierarchical control, and develops three modules: simulation control program, localization module and algorithm based on UWB, ZigBee communication module.Secondly, this paper analyzes and designs the three cooperative vehicle infrastructure scenarios based on V2 V, including car following scenario, lane changing scenario and overtaking scenario. This paper simulates and validates the models by software simulation on the basis of study on the relevant theory of the three cooperative vehicle infrastructure scenarios.Finally, Simulation tests of three cooperative vehicle infrastructure scenarios based on V2 V are performed in hardware-in-loop simulation based CVIS. The system collects and analyzes the moving data of model vehicles in different scenarios. The results show that hardware-in-loop simulation based CVIS can restore typical traffic scenarios more really and verify availability of control models, and can reflect the impact of underlying physical factors on the control models, which provide the basis for further development of the theoretical model.