主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2022, Vol. 47 ›› Issue (20): 23-28.DOI: 10.16638/j.cnki.1671-7988.2022.020.006

• 智能网联汽车 • 上一篇    

车辆编队协作式行驶仿真系统研究

郭 蓬 1,2，陈美奇*3，杨建森 1，许扬眉 1   

  1. 1.中国汽车技术研究中心有限公司；2.中汽研（天津）汽车工程研究院有限公司；3.天津思丰霍汽车零部件技术开发有限公司
  • 出版日期:2022-10-30 发布日期:2022-10-30
  • 通讯作者: 郭 蓬
  • 作者简介:郭蓬（1983—），女，博士后，高级工程师，研究方向为车联网、自动驾驶等，E-mail:guopeng@catarc.ac.cn。
  • 基金资助:
    国家重点研发计划（2018YFB1600604）。

Research on Vehicle Formation Cooperative Driving Simulation System

GUO Peng1,2 , CHEN Meiqi*3 , YANG Jiansen1 , XU Yangmei1   

  1. 1.China Automotive Technology&Reasearch Center Company Limited; 2.CATARC (Tianjin) Automotive Engineering Research Institute Company Limited; 3.Tianjin Sifenghuo Auto Parts Technology Development Company Limited
  • Online:2022-10-30 Published:2022-10-30
  • Contact: GUO Peng

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摘要： 针对智能网联车编队行驶功能，文章设计了基于车用无线通信（C-V2X）技术仿真系 统。依据车辆协作式行驶控制流程（车辆组队、车辆入队、车队稳定行驶以及车辆出队），搭 建智能驾驶员模型对车辆进行控制，通过领航-跟随法引导车辆队列行驶，最后在 Prescan 中 设计驾驶场景，并通过直连通信（PC5）模式 4 通信协议建立通信进行了仿真验证。结果表 明，所搭建的车辆编队协同控制仿真系统能够有效完成车辆队列的形成、车辆入队、队列稳 定行驶以及车辆出队等队列控制行为，并能够根据自动驾驶控制策略使队列保持稳定的车间 距行驶。

关键词: 车辆编队；仿真系统；领航-跟随法；V2X；协作式行驶

Abstract: In view of the cooperative driving function of intelligent and connected vehicle, a simulation system based on vehicle wireless communication (C-V2X) technology is designed. According to the vehicle cooperative driving control process (vehicle formation, vehicle entering, stable driving and vehicle leaving), an intelligent driver model is built to control the vehicle, and the vehicle queue is guided by the pilot follow method.Finally, the driving scene is designed in Prescan and communicated through direct connection communication (PC5) mode 4 communication protocol for simulation verification. The results show that the built vehicle formation cooperative control simulation system can effectively complete the queue control behaviors such as the formation of vehicle queue, vehicle entering the queue, stable driving in the queue and vehicle leaving the queue, and keep the queue running at a stable distance according to the automatic driving control strategy.

Key words: Vehicle formation; Simulation system; Leader-follower strategy; V2X; Cooperative dricing