摘要
为了提高智能车队的行驶效率和安全性,运用鱼群逃逸仿生学研究智能车队在二维环境下的安全行驶模型。通过对鱼群逃避危险时协同一致性研究,建立车辆的行为规则,基于安全距离理论确定了车辆不同行为规则的边界条件;在车队运动过程中,考虑相邻车辆的速度差、安全距离与安全距离差等因素,建立二维车队避撞模型,计算分配给各跟随车辆的期望加速度,并根据车辆不同行为规则建立车辆的行驶航向角模型,从而达到车队在横向与纵向上安全行驶与避撞的目的。通过PreScan软件和Matlab/simulink联合仿真,验证了车队在不同干扰条件下协同行驶模型的有效性。
To improve the driving efficiency and safety of intelligent fleet,a safe driving model under the two-dimensional environment is established based on the escape bionics of fish swarm.According to the synergy and consistency of fish swarm escape,this paper makes the code of conduct for vehicles and defines the safe distance between the leading and following vehicles.In the driving process of the fleet,the acceleration and the safe distance of the vehicles are calculated to ensure the lateral and longitudinal driving safety of the platoon.PreScan is used with Matlab/simulink to simulate model which is used to verify its effectiveness under different interference conditions.
作者
朱畏畏
江浩斌
马世典
曹福贵
ZHU Weiwei;JIANG Haobin;MA Shidian;CAO Fugui(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China;Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China)
出处
《机械制造与自动化》
2018年第5期190-193,205,共5页
Machine Building & Automation
基金
国家自然科学基金项目(61573171)
交通运输部信息化技术研究项目(2013364836900)
江苏省研究生创新基金(CXLX13_675)
关键词
群行车控制
行为规则
安全行驶模型
仿生学
鱼群逃逸行为
智能车队
driving control of vehicles
code of conduct
safe driving model
bionics
escape of fish swarm
intelligent fleet
