Research On Multi-vehicles Cooperative Driving Based On Fish Group Effect In Internet Of Vehicles

Multi-vehicles coordinated driving control technology is based on the control of multiple intelligent networked vehicles.By establishing effective coordination mechanisms and control methods,it can achieve safe and efficient cooperative movement between vehicles,alleviate traffic congestion,and improve road utilization.From the perspective of bionics,this paper focuses on the order and consistency of vehicle cluster movement in the Internet of vehicle environment,and carries out research work on the multi-vehicle coordinated driving control method based on the fish group effect,including the vehicle cluster self-organizing behavior modeling and vehicle cluster motion control method based on fish swarm effect,and using MATLAB platform to simulate the vehicle cluster motion control strategy to verify the effectiveness of the proposed method.Based on the analysis of the research status of Internet of vehicle technology and multi-vehicles cooperative control theory,combined with the typical application scenarios of multi-vehicles cooperative driving,this paper puts forward the research ideas of multi-car imitation fish group effect cooperative driving.The paper analyzes the traditional artificial fish swarm algorithm and its applicability in the Internet of Vehicles environment.Combined with the influence of vehicle location and driving state on the vehicle cluster motion,a self-organizing behavior control model of vehicle cluster based on fish swarm effect is constructed..The model does not consider the lane constraints,and improves the traditional artificial fish swarm algorithm.By refining the vehicle communication area to set the influence of surrounding vehicles in different areas,the mechanical model is introduced,and the vehicle clusters are safe according to the gravitational idea.Distance-constrained self-organizing behavior control strategy.Combining with the self-organizing behavior control model of vehicle clusters,this paper proposes a vehicle cluster motion control method based on fish school effect.This method considers the constraints of lane-to-vehicle cluster motion,introduces pilot-following formation ideas,and adopts the surrounding environment.Judging the congestion degree and changing the vehicle formation,combined with the vehicle cluster obstacle avoidance model,it can effectively control the lateral and longitudinal movement of the vehicle cluster and ensure the safety of driving.The paper uses the MATLAB platform to verify the validity of the proposed method based on the consistency of the speed and trajectory of the vehicle cluster from disorder to order,and the vehicle spacing,traffic flow and traffic density.The simulation results show that:(1)Using the self-organizing behavior control model of vehicle cluster based on fish school effect to realize the vehicle cluster from disorder to order,the vehicle cluster travels more smoothly,and the trajectory can quickly converge and have less volatility.(2)The vehicle cluster motion control method based on the fish school effect has good convergence when realizing the vehicle cluster from disorder to order,and the average vehicle speed and traffic flow are at a large value under the same traffic density.At the same time,it can realize reasonable selection of lanes and lane changing operations,as well as effective collision avoidance of obstacles by vehicle clusters.The vehicle cluster motion control method based on the fish swarm effect proposed in this paper is better in ensuring the safety of vehicle driving,improving the order of vehicle group and improving the efficiency of road traffic under the condition of lane constraints.The research work in this paper will also provide a theoretical basis for the safe and efficient management and control of vehicles in the vehicle network system.