汽车工程

汽车工程 ›› 2021, Vol. 43 ›› Issue (12): 1745-1751.doi: 10.19562/j.chinasae.qcgc.2021.12.002

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基于车车通讯的队列自动跟驰横向耦合模型

高秀晶1,2(),马育林3,杉町敏之4,黄红武1,2   

  1. 1.厦门理工学院机械与汽车工程学院，厦门 361024
    2.福建省客车及特种车辆研发协同创新中心，厦门 361024
    3.清华大学苏州汽车研究院（相城），苏州 215134
    4.东京都市大学机械工学科，东京　1588557
  • 收稿日期:2021-08-02 修回日期:2021-09-22 出版日期:2021-12-25 发布日期:2021-12-24
  • 通讯作者: 高秀晶 E-mail:gaoxiujing@xmut.edu.cn
  • 基金资助:
    国家高端外国专家项目(G20200221011);福建省自然科学基金(2020J01273);福建省教育厅科技项目(JAT190664);厦门市重大科技计划项目(3502Z20191019);校攀登计划(XPDKQ19010)

Lateral Coupling Model of Automatic Platooning Based on Vehicle to Vehicle Communication

Xiujing Gao1,2(),Yulin Ma3,Sugimachi Toshiyuki4,Hongwu Huang1,2   

  1. 1.Mechanical and Automotive Engineering，Xiamen University of Technology，Xiamen 　361024
    2.Fujian Collaborative Innovation Center for R&D of Coach and Special Vehicle，Xiamen 　361024
    3.Suzhou Automotive Research Institute，Tsinghua University，Suzhou 　215134
    4.Department of Industrial Science，Tokyo City University，Tokyo　1588557
  • Received:2021-08-02 Revised:2021-09-22 Online:2021-12-25 Published:2021-12-24
  • Contact: Xiujing Gao E-mail:gaoxiujing@xmut.edu.cn

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摘要：

为提高队列自动跟驰的横向耦合性，提出了基于车车通讯、结合前车实时航行路径的队列自动跟驰横向耦合模型。首先，利用3次均匀B-样条曲线进行均等内插和平滑化处理，建立后车目标路径；其次，利用全局探索理论设计目标路径点的探索方法；然后，通过判别后车实时位置所处的目标区间，解算后车速度矢量；最后，建立包括横向位移偏差和横向航向角偏差的后车横向偏差模型，并利用Matlab/Simulink设计试验方法和开展实车测试。结果表明，本文方法生成的目标路径与前车实时路径保持高度一致，横向位移偏差和横向航向角偏差保持一致且更加平滑和稳定。研究成果为队列自动跟驰横向控制策略的高耦合性上层输入提供理论依据和实证方法。

关键词: 车车通讯, 队列自动跟驰, 横向耦合模型, 横向位移偏差, 横向航向角偏差

Abstract:

In order to improve the lateral coupling of automatic platooning， a lateral coupling model of automatic platooning based on vehicle to vehicle communication and real-time position of the preceding vehicle is proposed. Firstly， using the cubic uniform B-spline curve to interpolate and smooth the path of the preceding vehicle to establish the target path of the following vehicle. Secondly， the global exploration theory is used to design the exploration method of the target path point. Then， the speed vector of the following vehicle is calculated by judging the target range of the following vehicle real-time position. Finally， a lateral error model including lateral position error and lateral angle error is established. Experimental method is designed by Matlab/Simulink and the real vehicle experiments are carried out. The results show that the target path generated by the proposed method is highly consistent with the real-time path of the preceding vehicle and the lateral position error and lateral angle error are highly consistent， smoother and more stable. The research results provide a theoretical basis and empirical method for the high coupling upper input of automatic platooning lateral control strategy.

Key words: vehicle to vehicle communication, automatic platooning, lateral coupling model, lateral position error, lateral angel error