汽车工程学报2026，Vol.16Issue(2)：247-260,14.DOI:10.3969/j.issn.2095‒1469.2026.02.08
考虑相邻车换道影响的无人驾驶车辆队列速度控制策略
Driverless Vehicle Platoon Speed Control Strategy Under Adjacent Vehicle Lane Changes
摘要
Abstract
Adjacent vehicles cutting into an unmanned platoon on straight roads can cause excessive deceleration,which negatively impacts both driving safety and economy.Therefore this paper proposes a platoon speed control strategy considering the lane-changing behavior of adjacent vehicles.Based on vehicle-to-vehicle communication,the lane change intentions and trajectories of adjacent vehicles are identified and predicted,and a PID-based upper-level controller is established to output the desired vehicle deceleration according to the inter-vehicle speed difference.Furthermore,a lower-level energy recovery controller based on fuzzy logic converts the desired deceleration into braking torque.To verify the effectiveness of the control strategy,a CarSim/Simulink co-simulation platform was built to simulate low-speed and high-speed cut-in scenarios of adjacent vehicles.The results show that no collisions occur within the platoon,and in both scenarios,the minimum spacing and speed differences within the platoon are 8.4、5.8 m,-2.49、-2.68 m/s,respectively,all within safe limits.Compared to a model with a fixed front-to-rear braking force ratio,the average battery SOC change and energy consumption are reduced by 15%and 10%,respectively.These results show that the proposed speed control strategy not only effectively avoids platoon collisions,but also helps to improve the energy economy of the platoon.关键词
车辆队列/换道行为识别/轨迹预测/速度规划Key words
vehicle queues/lane change behavior recognition/trajectory prediction/speed planning分类
交通工程引用本文复制引用
杨炜,涂佳豪,杨培蒙..考虑相邻车换道影响的无人驾驶车辆队列速度控制策略[J].汽车工程学报,2026,16(2):247-260,14.基金项目
运输车辆运行安全技术交通行业重点实验室开放基金项目(KFKT2018-07) （KFKT2018-07）
