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