全自动智能运输系统的分布式递阶控制方法

针对动态环境中的全自动智能运输系统的控制问题,提出一种适用于该系统的分布式递阶控制方法。该方法以大系统递阶控制理论为基础,采用3级结构,包含组织级、协调级和执行级。分布式递阶控制方法在不同层次上分别处理全自动智能运输系统的车辆调度、车辆协调及车辆行为控制问题。组织级响应实时变化的运输需求,并由此确定无人驾驶车辆的调度命令。协调级负责化解系统内车辆之间的潜在冲突。执行级负责无人驾驶车辆的行为控制。仿真试验研究结果表明,较之传统的定时发车方式,对于全自动智能运输系统,采用分布式递阶控制的系统控制方法能够缩短乘客的平均等车时间并提高车辆的使用效率。

Distributed Hierarchical Control Method for Cybernetic Transport Systems

For the control problem of the Cybernetic Transport Systems which operating in a dynamic environment,a distributed hierarchical control method was proposed.This method is based on the hierarchical control theory of large scale system,and includes three layers:the organizing layer,the coordinating layer,and the executing layer.The distributed hierarchical control method deals with the fleet planning,the coordination of vehicles,and the action control of vehicles in different layers.The organizing layer responds to the realtime changing transport demands and determines the planning orders of the driverless vehicles.The coordinating layer is used to resolve the underlying conflicts between vehicles in the system.The executing layer is used to control the action of the driverless vehicles.The results from simulation tests show that the distributed hierarchical control method can decrease the average waiting time of passengers and improve the utilization efficiency of vehicles of the Cybernetic Transport Systems comparing with the traditional time dispatching method.