# 臺灣博碩士論文加值系統

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 此篇論文當中，我們設計出基於車載感測網路的協同式車隊變換車道之解決方案，並具有多個群組車隊分割變換車道和合併車隊的功能，其中包含目標車道之空間規劃、車隊車輛多群組即時分割、目標車道車輛與車隊車輛之混合速度控制以及多群組車隊車輛合併。在我們提出的方法中我們使用動態規劃之演算法來計算出最佳的車隊變換空間，依照所計算出的最佳車隊變換空間將車隊車輛分割成多個群組，以進行車隊群組變換車道，當變換空間不足時，會透過混合控制車隊車輛速度和目標車道車輛速度，來取得車隊換車道所需要空間大小，最後再進行已分割多群組車輛合併，避免車隊車輛分開而導致增加車隊行駛時間和能源消耗。就以目前所知，我們所設計解決方案為第一個支援多群組車輛分割和合併的協同式車隊變換車道解決方案，模擬實驗顯示出我們提出的解決方案優於現有車隊變換車道之方法，能夠減少車隊車輛以及目標車道上車輛速度變化量，避免不必要的加減速，提升車流順暢度且降低燃油或能源的損耗。
 In this paper, we propose a cooperative fleet lane-changing solution based on a vehicle sensing network with multiple groups of fleet vehicles splitting and merging, which including determining lane-changing space in target lanes, real-time splitting of multiple groups of fleet vehicles, hybrid speed control for vehicles in the target lane and fleet, and merging of multiple groups of fleet vehicles. In our proposed method, we use the dynamic programming algorithm to calculate the optimal fleet lane-change space, and split the fleet vehicles into multiple groups according to the optimal lane-changing space, so as to change the lanes of the fleet groups, when there is insufficient space for lane changing, hybrid speed control is employed to adjust both the fleet vehicle speed and the speed of vehicles on the target lane, in order to obtain the necessary space for lane changing. Subsequently, efficient merging of multiple grouped vehicles is designed to prevent the separation of fleet vehicles, thereby avoiding increased travel time and energy consumption. To the best of our knowledge, the solution we designed is the first cooperative fleet lane-changing solution that supports multi-group vehicle splitting and merging. Simulation results show that our proposed solution is superior to existing fleet lane-changing methods, and can minimize the speed variation of fleet vehicles and vehicles on the target lane, avoid unnecessary acceleration and deceleration, improve traffic flow, and reduce fuel or energy consumption.
 誌謝 i摘要 iiAbstract iii目錄 iv圖目錄 v表目錄 vi第一章 緒論 1第二章 相關文獻研究 5第三章 系統架構 8第四章 協同式車隊變換車道技術 114.1 車隊變換車道空間之規劃 144.2 多群組車隊車輛之協同式車隊分割 194.3 空間不足車隊控制 234.4 車隊車輛復原與合併 27第五章 效能評估與實驗 335.1 空間搜尋方法比較 345.2 變換車道方法比較 365.3 車隊小組合併方法比較 41第六章 結論 45參考文獻 46