高速路况下智能网联汽车单车道自动驾驶控制及仿真研究  

Research on Single-lane Autonomous Driving Control and Simulation of Intelligent Connected Vehicles on Highway

作　　者：赵有金 姜武华[2] ZHAO Youjin;JIANG Wuhua(Department of Automotive Engineering,Anhui Automotive Vocational and Technical College,Hefei 230601,China;School of Automotive Traffic Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]安徽汽车职业技术学院汽车工程系,安徽合肥230601 [2]合肥工业大学汽车交通工程学院,安徽合肥230009

出　　处：《安阳师范学院学报》2024年第5期10-14,共5页Journal of Anyang Normal University

基　　金：安徽省高校自然科学重点研究项目(项目编号:2023AH053343)。

摘　　要：为有效避免高速路况车辆因人为误操作导致的交通事故,提出了一种智能网联汽车自动驾驶控制模型。在PATH差距模型的基础上,考虑道路信息,提出了改进的车间距模型。采用预瞄曲率跟随模型,对高速路况下智能网联汽车单车道自动驾驶实施控制,并通过PreScan和MATLAB/Simulink进行联合仿真。结果表明,根据车距自适应确定车距增益实现了智能网联汽车的协同,车队可以在14 s的时间内达到预定车速,同时车速波动在1.2%以内,提高了车辆行驶的安全性和舒适性。In order to effectively avoid traffic accidents caused by human misoperation of vehicles in high-speed road conditions,an intelligent networked vehicle autonomous driving control model is proposed.Based on the PATH gap model and considering the road information,an improved workshop distance model is proposed.On this basis,the preview curvature following model is used to control the single-lane autonomous driving of intelligent connected vehicles under high-speed road conditions,and the co-simulation is carried out by PreScan and MATLAB/Simulink.The co-simulation results show that the coordination of intelligent connected vehicles can be realized by determining the vehicle distance gain according to the vehicle distance adaptation,and the fleet can reach the predetermined speed within 14 s,while the speed fluctuation is within 1.2%,which improves the vehicle driving safety and comfort.

关 键 词：车间距模型 预瞄曲率跟随 智能网联汽车 自动驾驶 高速单车道 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U491.255[自动化与计算机技术—控制科学与工程]