Research On Multi Intelligent Vehicles Cooperative Driving Based On Fish Swarm Effect

With the continuously development of economy and the growth in the living standard,the car ownership is growinging rapidly in China.The development of social economy is restricted by the problems,such as traffic jam,traffic acciden and so on.In addition,the situations of Energy depletion and environmental pollution are also increasingly grim.In order to alleviate the above problems,the reserach of group-vehicles control technology has been widely concerned by domestic and foreign scholars.Group-vehicles driving control technology sees multi vehicles as a whole,and through the establishment of coordination mechanisms and effective control methods,multi vehicles move cooperatively,so that it could alleviate traffic congestion,and improve the utilization of the road and traffic safety.From the point of view of bionics,this paper seed the intelligent(or unmanned)vehicle as the research object and estabilshed the vehicle cooperation mechanism and multi vehicles cooperative driving algorithm.The feasibility and effectiveness of the research contents are verified by PreScan software and the semi physical simulation platform,under the various and complex road conditions.The specific contents of the paper are as follows:First of all,on the basis of comprehensive analysis of domestic and foreign research on cooperative driving,this paper put forward the thought of multi intelligent vehicles driving like fish swarm.The structural model of individual fish and the mathematical models of the underlying behavior were introduced.The advanced self-organization behavior of fish swarm,including foraging,escape and cluster,were described,and the mathematical model were also given.Secondly,the concept of multi vehicles motion was put forward,based on fish swarm cluster theory.According to the thought of leader-follower,the multi vehicles movement rules are given.The multi vehicles cluster motion controller was esigned based on the theory of SMC and verified by the co-simulation of PreScan software and MATLAB/simulink,under the different cluster motion rules.Thirdly,the underlying behavior of individual vehicles were extracted and thevehicle kinematics models of underlying behavior wer also given,based on the cooperative motion mechanism of fish swarm effect.The multi vehicles collaborative driving algorithm was established,and the parameters were setted.PreScan software and MATLAB/simulink were used to conduct the co-simulation,and the results showed that the multi vehicles collaborative driving algorithm was feasible and effective,under different interference factors.Finally,the semi physical simulation platformin was built,which used smart cars as the core and the feasibility and effectiveness of multi vehicle cooperative driving algorithm were verified by setting up different scenes of road obstacles.