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研究生： 方志浩
Fang, Zhi-Hao
論文名稱： 車隊於高速公路匝道情境的協同駕駛策略
A Cooperative Driving Strategy for a Platoon in Highway On-Ramp Scenario
指導教授： 莊智清
Juang, Jyh-Ching
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2020
畢業學年度： 108
語文別： 英文
論文頁數： 70
中文關鍵詞： 自主車輛 、排隊車輛 、責任敏感制安全 、訊息格式 、協同駕駛策略 、車隊合併 、車隊分裂
外文關鍵詞： Autonomous Vehicle, CACC, Platooning Vehicle, Responsibility-Sensitive Safety, Message format, Cooperative Driving Strategy, Platoon Merge, Platoon Split
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    • 自動駕駛車輛藉由縱向和橫向車輛控制以改善舒適性，安全性和運輸吞吐量。高速公路匝道是一個經常導致車禍發生的路口，同時也是常常導致塞車的地方。因此為了讓車隊可以安全且順利地通過高速公路匝道，我們將透過利用車間通訊的優勢來改善此問題。
    普遍來說遇到車道合併的問題，我們可能會先讓一方通過路口之後另一方再通過，然而如果車隊也使用相同方法來解決這個問題，可能會導致整體的效率降低。因此我們提出了兩種可以協助車隊順利通過的方法。第一種是讓車隊在路口交匯點直接合併成一個大車隊。第二種是將車隊拆成兩個小車隊，其中一方會先通過，另外一方將降速以等待其他車輛通過路口再通過。而我們也定義了一個固定的訊息格式，以方便車子間可以互相溝通而不會誤解以導致發生危險。
    提高效率的同時，我們也必須考量到安全性，因此我們也導入了責任敏感制安全(RSS)模型，透過此模型我們可以提高車輛在路口交匯處的安全性。本論文利用模擬方式以評估所提方法之效能。

    Autonomous vehicles use longitudinal and lateral vehicle control to improve comfort, safety, and transportation throughput. The highway on-ramp is a junction that often causes car accidents, and it is also a place that often causes traffic jams. Therefore, in order to allow the platoon to pass the highway ramp safely and efficiently, we will improve this problem by taking advantage of V2V communication.
    Generally speaking, when we encounter the problem of lane merge, we may let one side passes the intersection first and the other side passes later. However, if the platoons also use the same method to solve this problem, it may lead to a reduction in overall efficiency.
    Therefore, we propose two methods that can assist the platoons to pass efficiently. The first is to let the platoon merge directly into a large platoon at the merge point. The second is to split the platoon into two small platoons, one of which will pass first, and the other will slow down and wait for other vehicles to pass the intersection before passing. And we have also defined a fixed message format so that vehicles can communicate with each other without misunderstanding and causing danger.
    While improving efficiency, we must also consider safety. Therefore, we investigate the Responsibility-Sensitive Safety (RSS) model. Through this model, we can improve the safety of vehicles at intersections. This thesis uses simulation to evaluate the effectiveness of the proposed method.

    摘要 I Abstract II Acknowledgements IV Contents V List of Figures VII List of Tables IX List of Abbreviations X Chapter 1 Introduction 1 1.1 Motivation and Objective 1 1.2 Problem Statement 3 1.3 Contribution of the Thesis 5 1.4 Thesis overview 6 Chapter 2 Modelling 7 2.1 Brief history of CACC 7 2.1.1 Simulation model constant value 8 2.2 Messages format 10 2.2.1 Data for Control and Active Safety 10 2.2.2 Data for Coordination of Maneuvers within Platoon 12 2.2.3 Data for Coordination of Maneuvers within Platoon 13 2.2.4 Data for Coordination between Platoons 14 2.3 RSS Model 15 2.3.1 Common Sense Rules 16 2.3.2 Safe Longitudinal Distance 17 2.3.3 Right-of-ways Rules 18 Chapter 3 Cooperative Driving Strategy 21 3.1 Virtual Mapping Method 21 3.1.1 Assumption For the using of virtual mapping method, we need the following assumptions to build the model: 22 3.1.2 Safety Improvement 22 3.2 Proposed method 24 3.2.1 Collision check 25 3.2.2 Platoon merge 27 3.2.3 Platoon split 32 3.2.4 Message format 33 3.2.5 Flow Chart 35 Chapter 4 Simulation and Result 37 4.1 Simulation setup 37 4.2 Comparison of CTG and RSS model 42 4.3 Simulation and analysis 47 4.3.1 Parameter setting 47 4.3.2 Scenario I 49 4.3.3 Scenario II 52 4.3.4 Scenario III 55 4.3.5 Scenario IV 59 Chapter 5 Conclusion and Future Works 65 5.1 Conclusion 65 5.2 Future Works 66 References 67

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