Recognition Method of Vehicle Cluster Situation Based on Set Pair Logic considering Driver’s Cognition
Algorithm 1
Recognition of vehicle cluster situation.
Input: Reference characteristic values of 7 forces on each index; characteristic parameter of surrounding vehicles in the interest region; driver’s perception weight to different regions considering driving propensity [27]; the number of vehicles j; the number of indexes m; the number of forces p; the number of lanes l.
while p ← 1 to 7 do
while m ← 1 to 6 do
1
Divide the reference characteristic values of forces on each index into interval numbers;
2
Transform the interval numbers of reference characteristic values into connection numbers according to equation (12);
3
Transform the connection numbers of reference characteristic values into the expression of trigonometric function according to equation (13);
4
Calculate the modulus of force on mth index;
end
end
while j ← 2 to 7 do
5
Transform the interval numbers of surrounding vehicles’ parameters into connection numbers according to equation (12);
6
Transform the connection numbers of the surrounding vehicles’ parameters into the expression of trigonometric function according to equation (13);
end
while j ← 2 to 7 do
while m ← 1 to 6 do
7
Calculate the modulus on index of vehicle ;
while p ← 1 to 7 do
8
Calculate the identical degree between and
9
Select the force with the greatest identical degree as the force of vehicle on the target vehicle on the index;
end
end
10
Calculate the force of vehicle on target vehicle based on the modulus of connection number of forces with comprehensive consideration of 7 indexes;
end
while l ← 1 to 3 do
11
Calculate the force of each lane on the target vehicle based on the connection numbers’ modulus of surrounding vehicles’ force, considering the difference of the driver’s perception of the different region with the different driving propensity;
end
12
Determine the vehicle cluster situation of the target vehicle by all lanes’ forces on the target vehicle.
