联网智能车运动学仿真基础环境构建方法

A Construction Approach Based on Kinematic Simulation Environment for Networked Intelligent Vehicles

提出了一种联网智能车运动学仿真基础环境构建方法,该方法无需任何第三方交通仿真软件的协助,能够实现对联网智能车运动学相关功能的仿真验证.采用交叉口节点作为路网关键元素实现对仿真路网的描述,定义了交叉口和车辆属性,设计了车辆运动学模型在仿真环境中的实现方法,给出了基于高斯分布的车辆定位误差、基于平均分布和Rayleigh分布的通信延误在仿真中的运行机制,构建了仿真环境.仿真结果表明:该方法可靠性好;采用该方法构建的仿真环境得到的车辆延误与HCM 1994车辆延误模型结果保持一致;在危险跟驰预警场景中,预警时刻两车间距的变化规律与论文提出的定位误差模型和通信延误模型保持一致.最后,通过对交叉口车辆间隙控制方法进行仿真,进一步证明了该方法对联网智能车运动学方面功能验证的支持.

A novel approach based on kinematic simulation environment of networked intelligent vehicle is proposed in this paper.Functionality relevant to kinematics of networked intelligent vehicles can be verified via simulation on the basis of proposed approach.Intersections are adopted as the main elements composing the road network and all the roads are classed as connection between two different intersections.Properties of intersections and vehicles are defined and approaches of realization for vehicle kinematic models in the simulation environment are designed.Vehicle-positioning deviation based on Gaussian distribution is given and uniform and Rayleigh distribution on the basis of communication delay in the process of simulation are introduced to enhance the simulation reality.A series of simulation is conducted to prove the reliability of the simulation environment.Vehicle delay presents the same tendency to HCM 1994 vehicle delay model in different volumes to capacity ratio.The distribution of distance between two vehicles when pre-warning is generated is subject to the uncertainty models.A slot-based intersection control method is implemented so that the approach to kinematic function of networked intelligent vehicle is verified.