A Control Method for Convoy Intersection Obstacle Avoidance Based on Multi-level Leader Pigeon Flock Theory
A control method and leader technology, applied in the field of car networking intelligent fleet collaboration and emergency obstacle avoidance, can solve problems such as the inability to ensure the safe passage of the fleet through intersections, the inability to avoid avoidance, and the loss of the target of the preceding vehicle, so as to improve leadership efficiency, The effect of improving usability and actual accuracy, and improving the success rate of avoidance
Active Publication Date: 2022-02-15
JIANGSU UNIV
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
But in the complex traffic scene at the intersection, there are various emergencies. When the leader leads the team to turn in the pilot-follow mode, the turning vehicle in the side lane is close to our team or the pedestrians at the intersection are gradually approaching us when passing the intersection. In the case of the square convoy, the convoy will have a greater potential safety hazard and should take different degrees of avoidance behaviors according to the size of the risk factor at the moment. , approaching vehicles and approaching pedestrians cannot pose a threat to the leader, so the original first-level leader cannot take evasive measures
If the approaching vehicle or pedestrians approach the subordinate vehicle in the convoy further, the subordinate vehicle will perform emergency avoidance and have a large heading angle deflection. When the deflection angle exceeds the threshold, the vehicle in front will be lost in the formation, resulting in Loss of formation position, disrupting the entire formation and creating a great risk to following vehicles
[0006] Therefore, when mixed traffic flows such as pedestrians, passing vehicles, and crossing lines in a complex intersection environment pose a greater threat to the fleet, when there is a risk of collision, it is obviously not possible to consider only a single leader's fleet coordination. Ensuring the safe passage of convoys through intersections
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0023] The present invention will be further described below in conjunction with accompanying drawing.
[0024] Such as Figure 8 Shown, the implementation of the present invention comprises the following steps:
[0025] Step1: Establish the principle of switching the number of team leaders
[0026] Consider a leaderless smart car formation with N straight-line driving, each vehicle individual i can be regarded as a particle, and its dynamic model is shown in the following formula:
[0027]
[0028] where p i ,q i ,u i are the position vector, velocity vector and control input of formation vehicle i respectively. where||p i || 2 max , V max >0,V max is the maximum driving speed allowed by the individual in the formation, and N is the number of vehicles.
[0029] Define the curvature change Δρ of a certain vehicle trajectory in the fleet when the smart vehicle is driving i , the number of leaders in the fleet identifier Leader i , Δρ of leader number switching in...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an obstacle-avoiding control method at a convoy intersection based on the multi-level leader pigeon group theory, comprising step 1, establishing the principle of switching the number of convoy leaders; step 2, defining the range of the risk perception area and the danger sensing area; step 3, Determine the set division of traffic flow vehicles; step 4, calculate the risk coefficient μ of smart car i in the fleet i ; Step 5, by the risk coefficient μ i Determine the second-level leader; step 6, establish the emergency obstacle avoidance control of the second-level leader; step 7, judge whether the second-level leader successfully completes the avoidance, and if the avoidance is completed, perform step 8; step 8, establish the second-level leader The pilot control; step 9, establish the avoidance follow control of the vehicle behind the second-level leader; step 10, the convoy passes the intersection and switches back and forth. The invention improves the traffic efficiency of the intersection of the intelligent fleet, improves the success rate of the fleet's avoidance of emergencies at the intersection, and solves the problem of frequent dangers of the intelligent fleet crossing the intersection.
Description
technical field [0001] The invention belongs to the technical field of vehicle network intelligent fleet coordination and emergency obstacle avoidance, and in particular relates to an obstacle avoidance control method for fleet intersections based on the multi-level leader pigeon group theory. Background technique [0002] In order to meet the requirements of safe, efficient, and intelligent transportation development, the multi-vehicle cooperative obstacle avoidance strategy of intelligent networked vehicles has become a hot direction of development and research in recent years. As a typical scene of the urban traffic environment, the intersection is the "throat" of urban traffic, where traffic accidents are extremely prone to occur due to the mixture of people and vehicles and the complex interaction and influence between traffic subjects. The uncertainty and risk of the team's obstacle avoidance at intersections and curves are higher than those in the driving environment ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & AuthorityPatents(China)
IPC IPC(8): G08G1/00G08G1/16G06N3/00H04W4/40H04W4/46H04W84/18
CPCG08G1/20G08G1/166G06N3/006H04W4/40H04W4/46H04W84/18
Inventor郑曰文蔡英凤祁义恒
OwnerJIANGSU UNIV