基于PID控制系统的车辆速度规划设计研究

Vehicle Speed Planning and Design Based on PID Control System

通过交通灯与车辆进行协同控制,从而高效率地解决了道路拥堵等交通问题,是智能交通系统中比较先进的一项技术.基于汽车的动力性与油耗结合牛顿第二定律分别建立汽车的动力学模型与油耗模型.根据获取的交通灯信息和动力学模型分别获取不停车情况下通过路口交通灯时的参考速度和实际车速,然后运用PID控制算法对参考车速与实际车速的误差进行调节并进行仿真.结果表明,该速度规划可有效减少路口车均延误以及不必要的停车次数.

The coordinated control of traffic lights and vehicles can efficiently solve traffic problems such as road congestion.It is a relatively advanced technology in intelligent transportation systems.Based on the dynamic performance and fuel consumption of the vehicle combined with Newton′s second law,the dynamic model and fuel consumption model of the vehicle are established respectively.According to the obtained traffic light information and dynamic model,the reference speed and the actual speed when passing the traffic light at the intersection without stopping are obtained respectively,and then the PID control algorithm is used to adjust and simulate the error between the reference speed and the actual speed.The results show that the speed planning can effectively reduce the average vehicle delay and unnecessary stopping times at the intersection.