Control method of intelligent vehicles cluster motion based on SMC
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. Road and Bridge Department, Jiangsu Jiaotong College, Zhenjiang, Jiangsu 212006, China
Abstract：To solve the mechanism and control problems of cooperative driving between intelligent vehicles, the method was proposed based on the theory of fish swarm cluster motion. The cluster rules of fish swarm was analyzed, and the diamond formation of intelligent vehicles was established. According to the minimum safe distance theory, the geometric position of diamond was determined, and the pilot following method was used to generate the parameters of virtual vehicles. The SMC theory was applied to design the tracking controller, and the accelerations of following vehicles were calculated to achieve the safe and orderly running of multiple vehicles on freeway. PreScan and Matlab/Simulink were used to establish the joint simulation. The results show that the intelligent vehicle at random position can be gathered to the pilot vehicle from the initial state and follow the same trend of the pilot vehicle movement to achieve the process from disorderly to orderly travel.
2018, Vol. 39 
