Y.Y. Wang, S.F. Wang, J.Y. Zhang, S.Q. Long, M.Q. Luo

Pages: 3-20

Abstract
Multi-intelligent vehicles forming and maintaining a specific formation during traveling can save energy consumption and road resources, and improve traffic efficiency and driving safety. Centered around the Cooperative Vehicle Infrastructure(CVI) framework of the Internet of Vehicles(IOV), this paper delves into the control objectives of forming multi-intelligent vehicle formation, explores the theory of formation shaping process, and investigates the optimization of energy consumption in the formation shaping process. First, the clustering design is used to take the kinematic process of vehicles as an optimization process from the bionics, taking the instantaneous consumption indexes as the optimization objectives. Then, optimize the acceleration inputs of the vehicle formation process using the improved Artificial Fish Swarm Algorithm(AFSA), and iterate with the clustering algorithm part, so as to realize the formation shaping process with energy consumption as the optimization objective. Finally, a joint simulation platform built by Simulation of Urban MObility (SUMO) and Python is used for simulation verification, and the results show that the formation shaping process can be realized and achieve the optimal energy consumption under the scenarios proposed in this paper, thus verifying the validity of the clustering model of vehicle formation shaping and the energy consumption optimization algorithm designed in this paper.
Keywords: cooperative vehicle infrastructure; multi-intelligent vehicles; formation shaping; clustering studies; bionics; energy consumption optimization