連豊力臺灣大學：電機工程學研究所戴兆弘Tai, Chao-HungChao-HungTai2007-11-262018-07-062007-11-262018-07-062005http://ntur.lib.ntu.edu.tw//handle/246246/53116本篇論文討論的主題是自動化的高速公路系統；依照美國的智慧型運輸系統組織的分類，自動化高速公路系統是智慧型運輸系統中七個子系統的其中一個。根據自動化高速公路系的控制架構也在此討論。其中，自動化高速公路系統的控制架構包含了五層：network layer、link layer、coordination layer、regulation layer和vehicle dynamic layer。由於在本篇論文所著重的重點在不同控制器有不同的控制需求，所以討論的主題將著重在coordination layer和regulation layer。 接著文中針對coordination layer和regulation layer做較詳細的描述。在coordination layer中，其控制的目標是主要是藉由溝通而決定行車策略；根據定義所有的行車策略都可以由三個基本的策略來組成，三種基本的策略包含了：merge、split和lane change。在regulation layer中，其控制目標是要透過控制器的執行，來完成在coordination layer中所決定出來的行車策略，而在regulation layer所提到的控制器可以將其分層縱向控制器和橫向控制兩種。然而因為在regulation layer可以藉由選擇不同的控制器來完成溝通成決定的行車策略，而選擇這樣不同的控制器，將會遇到不同控制器需要不同的控制需求（或是不同的環境訊息）。為了要討論關於不同控制器需要不同的控制需求的問題，首先，針對現今討論控制器設計方法的論文做整理，將不同控制器需要不同的控制需求已整理表格的形式列出來。並且根據這樣的整理，嘗試建立一個新的通訊架構以滿足不同控制器需要不同的控制需求，為了觀察這樣的通訊架構是否可以被利用，文中也針對一個行車策略的執行過程，依據所建立的通訊架構，透過通訊流程圖的方式講通訊的狀態展示出來。根據通訊流程圖，行車策略的執行過程可以在此觀察。 最後，為了驗證通訊架構是否可用於不同的控制器上，在文中採用一個參加集團車的行車策略作為範例。並且根據所設計的通訊架構，將通訊流程圖也展示出來。藉由程式語言撰寫模擬的方式來驗證，透過模擬的結果可以發現，任何其他的行車策略都可以藉由三種基本的策略採用不同的控制器來完成並且其通訊架構也可以採用本文所討論的方式來達到。In the beginning of this thesis, an automated highway system (AHS) is discussed. Following the organization of Intelligent Transportation System America, an AHS is one of seven sub-systems of intelligent transportation systems. The control architecture of AHS is also discussed. The control architecture of AHS contains five sub-layers, i.e., network layer, link layer, coordination layer, regulation layer, and vehicle dynamic layer. In this thesis, the major discussion focuses on the coordination and regulation layers. Secondly, the control tasks in the coordination layer are maneuvers. All the maneuvers can be decomposed into three elementary maneuvers, i.e., merge, split, and lane change. The control tasks in the regulation layer are to execute a controller which may combine longitudinal controls and/or lateral controls, and the task is to achieve the maneuver decided in the coordination layer. This is because different controllers decided in the regulation layer need different information (or different communication requirements). In order to discuss the problem about different controllers needing different communication requirements, tables of organized papers about the different vehicle controllers including longitudinal controllers and lateral controllers are presented. According to the tables, new communication architecture is established to satisfy the three elementary maneuvers. This new architecture describes the maneuver based on different controllers needing different communication requirements. Furthermore, a communication flow chart based on the new communication architecture and execution maneuver is shown. According to the communication flow chart, the processes of executing a maneuver can be observed. Finally, one type of the joining maneuver is taken as an example to discuss. According to the new communication architecture, the communication flow chart can be also established by the process of the joining maneuver. In the end, in order to observe the situations of executing joining maneuver and confirm whether any maneuver can follow the new communication architecture, a simulator is programmed in this thesis.摘要 I ABSTRACT III CONTENTS V LIST OF FIGURES VII LIST OF TABLES X CHAPTER 1 1 INTRODUCTION 1 1.1 MOTIVATION 1 1.2 ORGANIZATION OF THE THESIS 2 CHAPTER 2 4 AUTOMATED HIGHWAY SYSTEMS 4 2.1 DESCRIPTION OF INTELLIGENT TRANSPORTATION SYSTEM 4 2.2 AUTOMATED HIGHWAY SYSTEM 8 2.2.1 System requirement 8 2.3 CONTROL ARCHITECTURE 9 2.3.1 Control architecture for Intelligent Vehicle Highway Systems 9 2.3.2 Extend control architecture for AHS 12 2.4 COORDINATION LAYER AND REGULATION LAYER 14 2.4.1 Coordination layer 14 2.4.2 Regulation layer 16 2.5 VEHICLE CONTROL 17 2.5.1 Longitudinal control 18 2.5.1.1 Literature survey of longitudinal control 18 2.5.2 Lateral control 20 2.5.2.1 Literature survey of lateral control 20 2.5.3 Summary 21 CHAPTER 3 25 PROBLEM FORMULATION 25 3.1 AHS COMMUNICATION ARCHITECTURE 25 3.2 COMMUNICATION REQUIREMENTS FOR CONTROLLER 28 3.2.1 Classification of communication issues 28 3.2.2 An inter-vehicle communication algorithm 30 3.3 PROBLEM STATEMENTS 31 CHAPTER 4 32 ANALYSIS AND DESIGN OF COMMUNICATION ARCHITECTURE 32 4.1 TWO-LEVEL COMMUNICATION ARCHITECTURE 32 4.2 COMMUNICATION FLOW CHART 37 4.2.1 Merge 38 4.2.2 Split 42 4.2.3 Lane change 45 4.3 A CASE STUDY: JOINING MANEUVER 49 CHAPTER 5 60 CASE STUDY – JOINING MANEUVER 60 5.1 SIMULATION SETUP 60 5.1.1 Description for simulating communication architecture for AHS 60 5.1.2 Simulator and development environment 61 5.2 CASE STUDY: SIMULATION OF JOINING MANEUVER 64 5.2.1 Description of joining maneuver for simulation 64 5.2.2 Data format 65 5.2.3 Simulation of joining maneuver 68 5.2.3.1 Results of simulation for vehicle A 70 5.2.3.2 Results of simulation for server 74 5.2.3.3 The variation of trajectory 78 CHAPTER 6 81 CONCLUSIONS AND FUTURE WORKS 81 6.1 CONCLUSIONS 81 6.2 FUTURE WORKS 82 REFERENCES 831756701 bytesapplication/pdfen-US自動公路系統控制架構縱向控制橫向控制通訊行車策略流程圖automated highway systemscontrol architecturelongitudinal controllateral controlcommunicationmaneuverflow chartthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/53116/1/ntu-94-R92921066-1.pdf