Microscopic Modeling And Experiment Of Traffic Flow Based On Micro-vehicle

Intelligent connected vehicles are equipped with advanced sensors,controllers,actuators and other devices,as well as modern communication and network technologies.Vehicles can obtain the information of surrounding vehicles in advance through vehicleto-vehicle/vehicle-to-infrastructure(V2V/V2I)communication technology.In the intelligent connected environment,the interaction between vehicles is more prominent,which will have a greater impact on the behavior of vehicles.Therefore,it is very important to propose a reasonable model to demonstrate the evolution behavior of traffic flow.This thesis focuses on the microscopic modeling and experiment of traffic flow of intelligent connected vehicles.On the one hand,a new microscopic model of traffic flow is proposed by considering the effect of interaction between vehicles on traffic flow.On the other hand,the miniature intelligent connected vehicle experimental platform was built to verify the microscopic model of proposed model.The main work of the thesis includes the following three aspects:1.Considering the effect of interaction between vehicles on microscopic traffic flow,a new microscopic model of traffic flow is proposedIn the intelligent connected environment,this thesis proposes a microscopic traffic flow model that considers the effects of velocity difference and position error.Since the intelligent connected vehicle has a certain delay in the communication process of V2V/V2 I,the delays of velocity and position between vehicles are also taken into account in the proposed model.Then,the perturbation method is used to analyze the stability of the proposed model and obtain the stability region of model.Finally,the effectiveness of the proposed model is verified by numerical simulation in two different experimental scenarios.2.A miniature intelligent connected vehicle experimental platform was built to provide an experimental basis for verifying the effectiveness of the proposed modelThe construction of miniature intelligent connected vehicle experimental platform includes hardware design and software development.In terms of hardware design,the miniature intelligent connected vehicle is equipped with a variety of detection sensors.For example,a camera is used to detect lane lines,an encoder is used to detect velocity of vehicle,and a lidar is used to detect distance between vehicles.In addition,the miniature vehicle also contains power module,motor drive module,and communication module.In terms of software development,the server and database are built to obtain and store the status information of the microform vehicle in real time.3.Regarding the proposed microscopic model of traffic flow,the effectiveness of the model was verified by experiments based on the miniature intelligent connected vehicle experimental platformExperimental verification of the effectiveness of the proposed model is an important part of studying whether the traffic flow model is reasonable.Based on the research content 1 and 2,the effectiveness of the model was verified by experiments on the miniature intelligent connected vehicle experimental platform.Firstly,the software/hardware on the miniature intelligent connected vehicle experimental platform was debugged jointly to ensure the reasonable and stable operation of the system.Then,the proposed model equation is loaded into STM32(Sgs-Thomson Microelectronics 32 bit Microcontroller Unit)in the form of programming language.Finally,the server sends a recommended velocity to each vehicle,and stores real-time status information(such as velocity,vehicle spacing,etc.)of all vehicles in the database.The results of miniature experiments show that the effectiveness of the model can be verified to a certain extent on the miniature intelligent connected vehicle experimental platform.