考虑并线的网联车辆巡航控制研究

In view of the problem that human-drivers on adjacent lane are prone to enter the fleet during the process of connected vehicle driving, a follow-up strategy with consideration of the merging maneuver of vehicle on adjacent lane is proposed and a hierarchical control system for distributed application is designed in this paper. Firstly, the rationality of the follow-up strategy proposed is analyzed, and a connected cruise control (CCC) system considering delay and error feedback is constructed. Then the influences of different control gain parameters on system stability in frequency domain are analyzed, and the simulation results verify the stability of multi-vehicle platooning driving. Finally, a test platform is constructed and a real vehicle test is conducted with a result showing that the CCC control system designed can quickly fulfill vehicle braking and ensure the stability of platooning driving during the merging of vehicle on adjacent lane. The follow-up strategy proposed can enhance the ride comfort of vehicle and the safety of traffic system.