论文标题
在高速公路方案中具有耐故障机制的可扩展操纵管理框架
An Extendable Maneuver Management Framework with Fault-Tolerant Mechanism for Vehicle Platoon Control System in Highway Scenario
论文作者
论文摘要
车辆排通常会面临在实际应用中操纵的可扩展性缺乏可扩展性的问题。添加了新方案后，原始程序可能不再可用。为了解决这个问题，本文介绍了一个二维机动管理框架，并根据排队控制系统的拟议分层体系结构具有耐故障机制。演习和角色是二维，基于将管理策略解耦。这使排中的每辆车都能执行各种操纵的管理策略，并且可以在不修改现有部分的情况下扩展新操作。容忍故障的机制被设计为由硬件失败触发的机动，以在接管之前保持安全。此外，为案例研究选择了三个典型的演习，以说明该框架中的管理策略如何工作。最后，设计了整合不同动作的全面模拟方案，并进行了使用微型车辆的现实实现。结果表明，建议的二维框架可以有效地处理各种操作并满足计算实时要求
Vehicle platoon often face the problem of lack of scalability of maneuvers in practical applications. Once a new scenario is added, the original program may no longer be available. To deal with this problem, this paper introduces a two-dimensional maneuver management framework with a fault-tolerant mechanism on the basis of the proposed hierarchical architecture for the platoon control system. Maneuvers and roles are two dimensions, based on which the management strategies are decoupled. This makes each vehicle in the platoon has the ability to execute management strategies of various maneuvers and the new maneuver could be extended without revising the existing part. The fault-tolerant mechanism is designed as a maneuver triggered by hardware failures to keep safe before taking over. Furthermore, three typical maneuvers are selected for case studies to illustrate how the management strategies in this framework work. Finally, a comprehensive simulation scenario integrating different maneuvers is designed and a real-world implementation using micro-vehicles is conducted. Results show that the propose two-dimensional framework could effectively deal with various maneuvers and satisfy the computational real-time requirements
