自駕車通過號誌化路口之速率控制

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姓名

周奕伶(Yi-Ling Chou) 查詢紙本館藏

畢業系所

土木工程學系

論文名稱

自駕車通過號誌化路口之速率控制
(Speed control of autonomous vehicle passing through the signalized intersections)

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摘要(中)

在這個互聯的時代，互聯的車輛或交通管理系統從其他車輛的感測器或周遭環境、固定基礎設施等去接收訊息，再做出相應的動作，而自駕車與智慧交通號誌的資訊傳遞上，當前為根據車輛系統偵測前方燈號，使駕駛能預判採放油門力道，並根據攝影機和感測器再做出續進或減速行為。現今通訊技術上傳遞範圍已經能夠於更遠的位置就可以接收到號誌資訊，即可以提早知道週期時間，判斷依目前速率是否可以通過路口，依此直接控制系統調整自駕車行駛速率，進而達到改善道路交通流量。
本研究以聯網自駕車於路口一段距離前，可以提早接收號誌資訊並依其調整行駛速率，使其最大程度通過路口而不停駛，建立速率模式及控制策略，界定速率與加速度減速度範圍，針對不同接收位置及紅燈秒數進行各項分析，並且以不同紅燈情況之情境下進行控制結果，以控制自駕車通過號誌化路口，減少因為紅燈造成的停駛時間，並且能夠增加路口通過機率。

摘要(英)

The present society is the era of Internet, connected vehicles or traffic management systems receive information from the sensors of other vehicles or the surrounding environment, fixed infrastructure, etc., and then take corresponding actions. In the information transmission of autonomous vehicles and intelligent traffic signals, the current technology is to detect the front light signal according to the vehicle system, so that the driver can predetermine the force of the accelerator, and then progression or deceleration behavior according to the camera and sensor .
Nowadays, the transmission range of communication technology is able to receive the signal information at a farther position, and the cycle time can be known in advance, and it can be judged whether the intersection can be passed at the current rate, and the system can directly control the system to adjust the speed of the autonomous vehicle to improve road traffic flow.
In this study, a connected autonomous vehicle can receive signal information in advance and adjust the driving speed according to it to make it pass the intersection to the maximum extent without stopping, establish a speed model and control strategy, and define the speed and acceleration/deceleration range. Perform various analyses for different receiving positions and red light seconds, and control the results under different red light situations to control the autonomous vehicle to pass signalized intersections, reduce the stop time caused by red lights, and can Increase the probability of passing the intersection.

關鍵字(中)

★ 自動駕駛汽車
★ 車聯網
★ 速率控制
★ 交通號誌資訊
★ 紅燈秒數
★ Red light seconds

關鍵字(英)

★ Autonomous vehicle
★ Vehicle-to-everything
★ Speed control
★ Traffic signal information

論文目次

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 VIII
第一章緒論 1
1.1 研究背景與動機 1
1.2 研究目的與範圍 2
1.3 研究方法與流程 4
第二章文獻回顧 5
2.1 自動駕駛汽車 5
2.2 車聯網環境與號誌化路口 7
2.3 速率控制 10
2.4 車輛行駛加減速度 13
2.5 文獻評析 15
第三章車輛速率控制方法 16
3.1 速率控制架構 16
3.1.1 模式基本假設與條件設定 19
3.2 到達路口號誌預測模式 20
3.3 車輛行駛速率模式 24
3.3.1車輛減速停駛 24
3.3.2 預計車輛到達路口為紅燈剛開始 25
3.3.3 預計車輛到達路口為紅燈快結束 29
3.4 小結 33
第四章基本狀況設定與分析 34
4.1 速率與加減速度範圍 34
4.1.1 紅燈前段速率與加速度範圍 34
4.1.2 紅燈尾段速率與減速度範圍 37
4.2 調整設定與分析 39
4.2.1 不同接收位置之速率變化 40
4.2.2 不同紅燈秒數之速率變化 44
4.2.3 不同接收位置與紅燈秒數之加減速位置與速率 48
4.3 通過路口機率 69
4.4 小結 70
第五章控制策略 71
5.1 控制策略設置 71
5.2 控制情境與分析 73
5.2.1 情境設定 73
5.2.2 結果與分析 73
5.3 小結 78
第六章結論與建議 79
6.1 結論 79
6.2 建議 81
參考文獻 82
附錄 87
附錄一最小加速度查表 87
附錄二最小減速度查表 96

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指導教授

吳健生

審核日期

2021-8-19

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