重庆邮电大学学报（自然科学版）2025，Vol.37Issue(2)：174-184,11.DOI:10.3979/j.issn.1673-825X.202407310197
基于云控的卡车编队分布式协同换道控制
Cloud-controlled distributed cooperative lane-changing control for truck platooning
摘要
Abstract
For the problem of cooperative lane-changing in mixed traffic flow and cloud-controlled environments for truck platoons,this study proposes an overall platoon lane-changing strategy and a distributed lane-changing strategy of first dis-assembling and then forming,and also designs a vehicle spacing stability control algorithm based on sliding mode variable structure.A cloud-controlled simulation platform is built using NS-3 and SUMO,and experiments are conducted to validate the strategies by simulating a typical risk scenario where the lead vehicle abnormally comes to a halt.The effectiveness anal-ysis shows that the cloud-controlled truck platoon lane-changing strategies effectively improve the throughput efficiency and smoothness of the overall traffic flow.Compared with the overall lane-changing strategy,the distributed lane-changing strat-egy demonstrates superior lane-changing performance.For low,medium,and high traffic volumes,adopting the distributed lane-changing strategy increases the average speed of the overall traffic flow within the risk zone by 5.1,6.9,and 9.3 per-centage point,respectively,and reduces the acceleration fluctuation amplitude of the overall traffic flow by 42.8,46.7,and 45.3 percentage point,respectively.Sensitivity analysis indicates that increasing the length of the lane-changing decision ar-ea helps to enhance the throughput efficiency and smoothness of the overall traffic flow.关键词
卡车编队/高速公路/车路云协同/协同换道/混合交通流Key words
truck platoon/highway/vehicle-road-cloud collaboration/cooperative lane change/mixed traffic flow分类
信息技术与安全科学引用本文复制引用
王江锋,满忠运,梁欢欢,唐风敏,冷卫杰..基于云控的卡车编队分布式协同换道控制[J].重庆邮电大学学报（自然科学版）,2025,37(2):174-184,11.基金项目
国家重点研发计划项目(T24B05300090) （T24B05300090）
河北省省级科技计划项目(236Z0802G) National Key Research and Development Program of China(T24B05300090) （236Z0802G）
Science and Technology Program of Hebei Province(236Z0802G) （236Z0802G）
