Regional Coordination Control Method of Rail Transit Signal Based on Unmanned Driver

摘要

In order to reduce the traffic congestion of driverless vehicles in rail transit and reduce the probability of traffic accidents of driverless vehicles, a coordinated regional control method based on driverless rail transit signal is proposed. The operation structure of driverless rail transit is designed based on vehicle network technology. The vehicle information is obtained by radio frequency identification equipment and the wireless communication technology is used. Instructions are conveyed to the built-in speed controller and steering controller of the vehicle. Vehicle speed, steering and running phase are controlled by the unmanned automatic tracking control module and the signal priority control module of the unmanned vehicle. The photoelectric sensor is used in the unmanned automatic tracking control module to convert the test results of the collected rail traffic signal into the lateral deviation to obtain the driving advance of the vehicle. Aiming at the information, adding the “driver” model to automatically control the state of the vehicle; the signal priority control module of the driverless vehicle chooses the vehicle to restore the priority request through the signal priority request and processing flow, adjusts the vehicle operation phase, and ensures the driverless vehicle to pass as first as possible according to the signal priority strategy of the rail transit. The experimental results show that the difference between the angle command and the actual angle is 20°. Within the range, the front wheel angle error does not exceed 1.45°. The average stability of the method is 0.9747, and the stability is good.