ABSTRACT
The interaction force between vehicles i and j is proportional to the value of bij(t), as shown in equation (4): f A b t B nij ij ij⎡⎣ ⎤⎦11 exp − ) (4)
where nij is the unit normal vector pointing from vehicle j to vehicle i. 3. The interaction force between boundaries and
vehicles Vehicles are also under the influence of road boundaries to ensure that the vehicle does not cross the boundary. The interaction force between boundaries and vehicles is the force that road boundaries of a certain range exert on the vehicle; a schematic diagram is shown in Figure 1.
