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In order to overcome the collision and stability issues of the connected vehicle formation in dynamic, uncertain and complex driving scenarios, and improve the driving safety for the connected vehicles, an obstacle avoidance strategy for the connected vehicle formation is proposed basing on optimized artificial potential field method. The obstacle avoidance strategy framework for the connected vehicle formation is designed and the vehicle formation controller basing on the classical artificial potential field method is established. On this basis, the vehicle formation search logic with Levi's flight random search characteristics is proposed to overcome the parameter limitation of the incremental coefficient of attraction and repulsion in artificial potential field method, and enhance the adaptability of the vehicle formation to complex driving environment. The proposed obstacle avoidance strategy is verified by a co-simulation testing platform. Results show that the connected vehicle formation basing on the optimized artificial potential field method can adapt to the complex driving environment more quickly, and has a shorter vehicle formation obstacle avoidance time.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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