The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm

Figure 4

Lane changing and overtaking heading direction coordination behavior.

(a) The planning path of PSO lane change behavior coordination

(b) The planning path of PSO overtaking behavior coordination

(c) PSO lane changing behavior coordination heading

(d) PSO overtaking behavior coordination heading

(e) PSO lane changing behavior coordination factor

(f) PSO overtaking behavior coordination factors