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1、南京航空航天大学 硕士学位论文 ITS智能车辆控制系统研究与实现 姓名：马涛 申请学位级别：硕士 专业：检测技术与自动化装置 指导教师：孙永荣 20090101 南京航空航天大学硕士学位论文 I 摘 要 智能交通系统的快速发展与广泛应用，不仅能够有效地解决交通的拥堵，而且对提高交通 安全，加快交通事故的处理与救援，改善客货运输管理与通行能力，减少环境污染等方面产生 巨大的影响。研制一套模拟真实城市交通状态的智能交通演示开发平台，为开展交通领域前沿 性研究提供物理平台和验证条件，对城市交通的发展具有重要的作用。 论文从分析智能交通演示开发平台的功能结构入手，设计了平台建设的总体方案，并对各 个子
2、系统的功能进行了分析介绍，重点研究了车辆控制系统结构和方案。 接着，论文对基于单片机的车辆运动控制方案进行了研究。针对小车直流电机的控制，文 中分别采用 PID 控制、模糊控制算法进行了分析研究，通过对其控制性能的比较分析确定了模 型车的控制策略。在保证测速精度和控制效果的基础上，实现了小车速度的平稳控制；以磁信 号为诱导方式， 文中设计了小车的诱导控制方案， 并对磁定位算法及诱导控制策略进行了研究， 实现了车辆的精确诱导控制。 针对车辆在单车道上的跟驰行驶行为，论文设计了车辆跟驰系统方案，研制了车距检测模 块，实现了车距的检测。研究了基于模糊控制的车辆跟驰控制算法，实现了车辆在单车道上的 跟
3、驰行驶；基于路标/DR 的组合导航，设计了 DR 传感器模块和路标识别模块，实现了模型车 的高精度定位，满足了演示开发平台对车辆位置精度的要求。 论文研究所取得的成果，已经在实际建成的平台中得到了成功应用。实际运行结果表明， 本文所设计的方案是可行的、正确的，达到了预期的设计要求。 关键词：关键词：智能交通系统，运动控制，电机控制，诱导控制，跟驰系统，导航定位。 ITS 智能车辆控制系统研究与实现 II Abstract The rapid development and wide application of intelligent transportation system, can no
4、t only resolve the traffic jam effectively, but also have tremendous effects on heightening traffic safety, quickening the process and succor of traffic accident, improving the ability of transportation management and traffic passes, and reducing environment pollution. Researching a set of imitated
5、intelligent transportation presentation development platform of real city traffic conditions can make the physics platform and validation terms for doing advanced study on traffic field, and react on the important development of city traffic. Firstly, starting with analyzing the fiction and structur
6、e of the intelligent transportation system development platform, this paper designed the whole project of the platform, introduced the fiction of every subsystem, and exactly paid much attention on the structure and design project of the intelligent vehicle system. Secondly, this paper did the resea
7、rch on vehicle motion control system project, which was based on MCU. Aiming at the vehicle of driving DC motor, this paper separately adopted the PID control and the fuzzy control to analyze and study. Then from comparing among the control capability, this paper determined the control scheme. Based
8、 on the assurance of the accuracy of the speed detection and the control effect, we realized the steady speed control of the intelligent vehicle. Taking the magnetic signal as the method of the vehicle inducement, this paper designed the method of the vehicle inducement and control, researched on th
9、e algorithm of magnetic location and the inducement control tactics, then realized the accurate inducement control of the intelligent vehicle. Lastly, towards the car-following drive of the vehicle on the single lane, this paper designed the project of the car-following system, and developed the mod
10、ule of the distance detection to implement the distance detection of the intelligent vehicle. This paper researched on the car-following control tactics, which was based on the fuzzy control, and implement the car-following drive of the vehicle on the single lane. Based on the Beacon/DR intelligent
11、vehicle navigation method, this paper designed the DR sensor module and beacon identification module to implement the vehicle accuracy location.This technique satisfied the precision requirements in the vehicle location of the development platform. The fruits, which were from the research of this pa
12、per, had applied in the real build of the platform. The results of practical running showed that the projects designed by this paper were feasible, correct, and reaching the expectable design requirements. 南京航空航天大学硕士学位论文 III Keywords: ITS, Motion Control, Motor Control, Inducement Control, Car-following system, Navigation and positioning ITS 智能车辆控制系统研究与实现 VI 图 清 单 图 1.1 论文编排结构图.5 图 2.1 智能交通开发平台道路模型效果图.6 图 2.2 智能车库实景图.7 图 2.3 平台局部效果图.7 图 2.4 智能交通演示开发平台结构框图.8 图 2.5 交通信号控制系统实物图.9 图 2.6 ITS 监控调度软件界面.10 图 2.7 闭路电视监控系统软件界面.10 图 2.8 基于智能交通演示开发平台可以开展的研究工作.
