Abstract: For the following and cruise functions, the sensor accuracy is limited and the communication between vehicles is isolatesd, which affect the following efficiency and safety. To overcome this problem, this paper applies the dedicated short-range communication technology to establish an automatic following system based on vehicle-to-vehicle cooperation, which could realize the real-time sharing and interaction of key state information between the host vehicle and lead vehicles. A set of automatic following control strategy is designed and developed to improve the efficiency and safety of vehicle following system. The real vehicle test shows that the automatic following system based on dedicated short-range communication technology can effectively realize the vehicle following function and the whole periods of automatic following are stable and reasonable. And the automatic following control strategy can control the host vehicle to follow the lead vehicle compactly and safely within a safe distance in real time.

Key words: Dedicated short range communication; Automatic following; Following control; Vehicle-to-vehicle cooperation

摘要： 针对跟车巡航功能中由于单车传感器精度受限和单车信息孤立等影响跟车效率和安全 性的问题，文章采用新一代专用短程通信技术，建立了基于车车协同的自动跟车系统，实现 自车与前车的关键状态信息实时共享和交互，设计开发了一套基于专用短程通信的自动跟车 控制策略，提高跟车效率和安全性。实车试验表明，基于专用短程通信技术的自动跟车系统 可有效实现跟车功能，自动跟车过程表现稳定合理，自动跟车控制策略可实时控制自车在安 全距离范围内紧凑且安全地跟车，很好地兼顾跟车安全性和道路通行效率。

关键词: 专用短程通信；自动跟车；跟车控制；车车协同