Kunatsiridza Kuyerera kweMotokari mune Yakaoma Kutenderera: OD Makorido uye Inodiwa Mamiriro

Table of Links

Abstract uye Sumo

Vehicle Modelling

Iyo Nonlinear Feedback Control

OD Makorido uye Inodiwa Mamiriro

Muganhu uye Chengetedzo Controllers

Simulation Results

Mhedziso

Appendikisi A: Kudhumhana Kuonekwa

Appendix B: Yakashandurwa ISO-Kureba macurves

Appendix C: Local Density

Appendix D: Safety Controller Details

Appendix E: Controller Parameters

References

IV. OD CORRIDORS UYE ZVINODIWA ZVINHU

A. Kutsanangura OD Corridors

Mukoto weOD chikamu chenzvimbo inotenderera, uko mota dzine OD inoenderana dzinotenderwa kutyaira. Tichifunga nezvehuwandu hukuru hwevakaroora veOD vari mumigwagwa mikuru, zvine musoro kuti mikoridho igadzirwe otomatiki, ichienderana nemitemo yakadzikwa inoswedera pedyo nesarudzo dzemutyairi wevanhu. Makoridhi akadaro anogona kubatsira kudzikisira kusawirirana pakati pemotokari painotenderera uye kugadzirisa mafambiro emotokari. Semuyenzaniso, kana kwainosvika mota iri padyo nebazu rekupinda napo, zvinoita sekunge zvine musoro kudzivirira kutyaira pedyo nemuganhu wemukati wekutenderera, izvo zvinozoisa mota panjodzi nekukanganisa kufamba kwe quasi-perpendicular. Muganhu wekunze wekutenderera unofungidzirwa semuganhu wekunze weOd corridors yose, sezvinoonekwa mumufananidzo 5. Kusiyana neizvi, kuti uwane zviri nani kushandiswa kwezvivakoti, tsanangudzo inonyatsokodzera yemiganhu yemukati yekoridhi inoitwa. Kutanga, tinoisa ODs mumhando mbiri: (1) nzvimbo yekuenda inoonekwa kubva kune yakabva (Fig. 5 (a)); uye (2) nzvimbo yacho haioneki kubva kune yakabva (Fig. 5 (b)).

Inooneka kwainoenda: Kurudzi rwekutanga rweOD vakaroorana uko kwakabva nekwavanoenda kuri pedyo nepedyo uye kwainoenda kunoonekwa kubva kwavakabva, nzira ipfupi uye yakapusa yekusvika ikoko kutora nzira yakananga padyo ne kana pa muganho wekunze wekutenderera, uchinzvenga mafambiro kune chikamu chemukati chekutenderera. Mupfungwa iyi, sarudzo yakareruka ndeyekufunga mutsara wakatwasuka unobatanidza nzvimbo yekuruboshwe yebazi rekutanga nekuruboshwe-kunyanya nzvimbo yebazi rekuenda semuganho wemukati wekoridho, ona Fig. 5(a). Kana koridhi yakadaro yakanyanya kutetepa kune imwe OD, muganhu wemukati unogona kutsiviwa nearc. Panyaya yeNzvimbo Charles de Gaulle kutenderera, kwainoenda kunoonekwa kubva kwekwakabva kana iri matavi matatu kure nekwakabva. Kana iyo yekubuda yebazi ichangopfuura bazi rekupinda, yechipiri sarudzo (arc pachinzvimbo chemutsara) inoshandiswa kumuganhu wemukati.

B. Kutsanangura Zvinodiwa Mafambiro

Mota inofanirwa kunge iine nhungamiro maererano nemafambiro ayo ichityaira mukati meOD corridor yayo, kuitira kuti itange yasangana munzira inotenderera, yozoenda kwairi kuenda yozobuda. Iyi nhungamiro inopiwa nenzira yezvinodiwa zvemotokari iyo inoverengerwa zvichienderana nenzvimbo yemotokari ikozvino uye kwainoenda uye inopihwa kuNLFC kuti iite sarudzo dzekufamba kwemotokari. Saka, kana dzimwe mota dzisipo, mota yaitevera nzira yakamisikidzwa nenzvimbo-inotsamira painoda mafambiro ekubuda kwayo. Pamberi pedzimwe mota, mota inogona kutsauka kubva munzira iyoyo, semuenzaniso kudzivirira kudhumhana nedzimwe mota, asi inogara iine yainoda kutaridzika inoenderana nenzvimbo yayo.

Mubasa iri, tinoshandisa avhareji yakayerwa yezviyereso zviviri, zvinova zvakanangana mhinduro dzenzira ipfupi yedambudziko rekuenda; uye kutsauka kudiki kubva padambudziko rekufamba kwedenderedzwa, ona zvakadzama mu [35]. Dambudziko renzira pfupi: Nzira pfupi inobatanidza chero nzvimbo inotenderera nenzvimbo chaiyo yekuenda ine chirevo chakajeka chemuviri; motokari, kana isipo dzimwe motokari, ingava nechido chokutyaira munzira ipfupi kwazvo inoenda kwairi kuenda. Cherechedza, zvisinei, kuti nzira yakadaro inogona kusanganisira kutsauka kwakasimba kubva pakona yedenderedzwa, iyo, pamberi pemamwe motokari, inowedzera kukakavara nemotokari dzinotenderera, zvichiita kuti kunonoka kuwedzere uye ngozi yekudhumhana. Shortest-nzira yekutarisa inotorwa nyore nyore nekusiyanisa pakati pezviitiko zviviri:

Chinodiwa chekutarisa muchikamu ichi ndiko kutenuka kwe tangent. Muchikamu chechipiri, gwara rinotevera muganhu wemukati, kureva kuti, chirevo chinodiwa ikona yedenderedzwa, kusvikira nzvimbo yekuenda ichionekwa; mushure mezvo isu tine zvakare nyaya yekuonekwa kwekuenda, uye inodiwa inotungamirwa ndiyo mutsetse wemutsara wakabatana kune yekubuda, ona Fig. 7.

Dambudziko diki rekutsauka: Nzira inobatanidza chero chinzvimbo munzvimbo inotenderera ine kwainoenda ine kushoma kutsauka kubva pakufamba kwedenderedzwa inonakidza nekuti mota zhinji dziri kutenderera uye kana mativi adzo ari padyo nekona yedenderedzwa, ipapo ivo vari padyo neimwe, chimwe chinhu inoderedza kukakavara kwemotokari uye kusimba kwechero ipi zvayo inodiwa kudhumhana-kunzvenga mafambisirwo. Mu [35], mhinduro yakatorwa yedambudziko rakanyanya rekudzora rinoratidza kuti kutsauka kubva pakona yedenderedzwa kunoderedzwa kana mota ikaramba ichingotsauka munzira yayo kubva kune chero chinzvimbo ichienda kwainoenda uye kutsauka uku kunoramba kuripo.