基于微型车的车辆队列试验平台设计与开发  

Design and Development of Vehicle Platoon Experimental Platform Based on Mini Vehicles

作　　者：邢春辉 孔伟伟 刘畅 李鹏飞 罗禹贡[2] Xing Chunhui;Kong Weiwei;Liu Chang;Li Pengfei;Luo Yugong(China Agricultural University,Beijing 100083;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084)

机构地区：[1]中国农业大学,北京100083 [2]清华大学,汽车安全与节能国家重点实验室,北京100084

出　　处：《汽车工程师》2023年第10期29-35,41,共8页Automotive Engineer

基　　金：国家自然科学基金青年科学基金项目(52002209);汽车安全与节能国家重点实验室开放基金项目(KFY2210)。

摘　　要：为满足车辆队列行驶研究的试验验证需求,针对具备辅助驾驶功能的车辆设计并开发了可扩展、支持多场景切换的车辆队列试验平台。队列车辆基于视觉感知采用纯跟踪算法进行横向控制,基于毫米波雷达采用协同自适应巡航进行纵向控制,基于具备辅助驾驶功能的车辆搭建队列试验平台硬件系统架构,并借助软件系统中车辆角色与功能场景要素实现队列系统的扩展与多场景切换。最后,基于3辆微型车搭建了车辆队列试验平台,并进行了功能和性能测试,结果表明,该队列试验平台可实现车辆入队、车辆组队、车辆队列稳定行驶,且控制效果良好。In order to satisfy the requirement of experiment and verification of vehicle platooning research,a vehicle with driving assistance function was designed,and an extensible and multi-scenario switchable vehicle platooning experimental platform was developed.The platooning vehicles are controlled horizontally by pure tracking algorithm based on visual perception and vertically by cooperative adaptive cruise based on millimeter wave.Hardware system architecture of the platooning experimental platform is built based on vehicles with driving assistance function,and vehicle role and function scene element from the software system are used to realize extension and multi-scenario switch of vehicle platooning.Finally,vehicle platooning experimental platform was established based on three minicars,function and performance test were conducted.The results show that this platooning experimental platform has function including vehicle queuing,vehicle platoon forming,and vehicle platoon driving steadily,with good control effect.

关 键 词：智能网联汽车 可扩展性 多场景切换 试验平台 

分 类 号：U461.2[机械工程—车辆工程]