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

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