引用本文:郭宇晴,姚丹亚,张毅,裴欣,李力,李志恒.从集群智能角度分析协同驾驶: 综述和展望[J].控制理论与应用,2021,38(7):875~885.[点击复制]
GUO Yu-qing,YAO Dan-ya,ZHANG Yi,PEI Xin,LI Li,LI Zhi-heng.Analysis of cooperative driving from the perspective of swarm intelligence: overview and outlook[J].Control Theory and Technology,2021,38(7):875~885.[点击复制]
从集群智能角度分析协同驾驶: 综述和展望
Analysis of cooperative driving from the perspective of swarm intelligence: overview and outlook
摘要点击 2937  全文点击 902  投稿时间：2020-09-21  修订日期：2020-12-02
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DOI编号  10.7641/CTA.2020.00630
  2021,38(7):875-885
中文关键词  集群智能  集群机器人  协同驾驶  协同规划
英文关键词  swarm intelligence  swarm robots  cooperative driving  cooperative planning
基金项目  国家重点研发计划项目(2018YFE0102800), 国家自然科学基金项目(61673233, 71671100), 深圳科创委基础学科布局项目(JCYJ201704121720300 08)资助.
作者单位E-mail
郭宇晴 清华大学自动化系 gyq18@mails.tsinghua.edu.cn 
姚丹亚 清华大学自动化系  
张毅 清华大学自动化系  
裴欣 清华大学自动化系  
李力 清华大学自动化系  
李志恒* 清华大学深圳国际研究生院 zhhli@tsinghua.edu.cn 
中文摘要
      协同驾驶是集群智能技术的典型应用之一. 和集群机器人相比, 协同驾驶既有集群智能技术的共性问题, 也有特性问题. 对协同驾驶与集群机器人对比研究, 有助于更好理解协同驾驶问题的内在难点, 也有助于推动集群 智能技术的发展, 完善复杂系统科学. 本文从集群智能研究的角度出发, 对协同驾驶进行反思综述. 本文首先介绍 协同驾驶的研究背景和意义, 然后从集群智能的角度进一步分析协同驾驶和集群机器人的区别, 接着介绍协同驾驶 的关键技术, 并着重强调协同规划在协同驾驶中的特殊性与重要性, 最后分析了世界各国协同驾驶发展现状, 并针 对现阶段我国协同驾驶发展的难点提出一些建议，同时对协同驾驶的未来进行展望.
英文摘要
      Cooperative driving is one of the typical applications of swarm intelligence technology. Compared with swarm robots, cooperative driving has both common and characteristic problems of swarm intelligence technology. The comparative study of cooperative driving and swarm robots is helpful to better understand the difficulties of cooperative driving, promote the development of swarm intelligence technology, and improve the complex system science. This paper reviews cooperative driving from the perspective of swarm intelligence. The paper first introduces the background and significance of cooperative driving, and then further analyzes the difference between cooperative driving and swarm robots from the perspective of swarm intelligence. The paper introduces the key technology of cooperative driving and focuses on the particularity and importance of cooperative planning. Finally, the paper analyzes the development status of cooperative driving around the world, and puts forward some suggestions in view of the difficulties encountered in the development of cooperative driving in China. The future of cooperative driving is forecasted.