不同车辆工况对协同自适应巡航控制 车队行驶安全的影响

基于横向控制器和纵向控制器模型，包括校正的预瞄驾驶员模型、加速度控制模型、节气门控制模型和制动器控制模型，建立Matlab/Simulink 和CarSim 车辆联合仿真平台，并对其可行性进行分析与验证.利用平台分别仿真协同自适应巡航控制(Cooperative Adaptive Cruise Control, CACC)车队车辆紧急刹车，通信延时，起步加、减速工况和车队前方插入换道车辆4 种情况下CACC车辆的行驶状况.仿真发现：紧急刹车时车队能够实现较好的紧急避撞；在通信延时的情况下，车队仍能保证行车安全；车队起步、减速工况运行较平稳，但加速度并不平稳，不利于车队后方车辆的乘坐舒适性；车队对前方插入不同速度的车辆能够及时响应并最终恢复安全行车间距.

Influence of Different Vehicle Operating Conditions on Driving Safety of CACC Platoon

Based on the lateral controller and longitudinal controller model, including the corrected preview driver model, acceleration control model, throttle control model and brake control model, the Matlab/Simulink and CarSim vehicle co-simulation platform is established and its feasibility is analyzed and verified. The platform is used to simulate the cooperative adaptive cruise control (CACC) fleet vehicle driving safety under four scenarios: emergency braking, communication delay, start-up, deceleration and inserting a lane change vehicle in front of the team. The simulation found that the platoon can achieve better emergency collision avoidance during emergency braking; in the case of communication delay, the team can still ensure driving safety; the starting and slowing conditions of the platoon are relatively stable, but the acceleration is not stable, which is not conducive to the platoon and the comfort of the rear vehicle; when inserts vehicles of different speeds in front of the team, the team can respond in time and eventually restore the safe driving distance.