基于鱼群效应的多车协同行驶控制方法

针对提高道路中多车行驶协同性问题,将鱼群群体行为效应引入到车辆的行驶控制中。通过对鱼群群体集群、游动行为一致性的研究,采用邻域平均法和改进的人工势场函数构造鱼群群体移动数学模型,将该移动数学模型应用到多车协同控制中,根据车辆行驶的常见运动行为,建立基于群体行为的车辆群体行驶、避障、队形变换控制方法,使行驶车辆间具有群体协同性、一致性,以提高车辆对环境的感知适应力。通过仿真实验得到的车辆行驶路径轨迹验证了该协同控制方法的有效性。

An Effective Swarm Vehicle Coordinative Traffic Control Design Based on Fish Swarm Grouping Behavior

The fish swarm performs a collective movement,which is considered as a typical advanced self-organized behavior.We believe this property will increase the inter-coordination and improve the active safety for vehicles on road.Sections 1 and 2 of the full paper explain the traffic control design mentioned in the title,which we believe is effective and whose core consists of: "After analyzing the fish swarm grouping behavior,we first construct the model of fish swarm behavior by an improved artificial potential function,a physical term introduced here for the purpose of collision avoidance.The artificial potential function keeps individuals suitably distant from each other;simultaneously each individual fish’s moving direction is the average of those of its neighbors,which keeps the swarm movement inter-coordinated.Then our swarm vehicle coordinative traffic control design is done with three control laws: movement,collision avoidance,and formation transformation." The simulation results,given in Figs.2 and 4,and the vehicle trajectory analysis show preliminarily that our swarm vehicle coordinative traffic control design is indeed effective.