自动驾驶车队队列控制技术综述

An Overview of Platoon Control Technology for Automated Vehicle Platooning

为研究自动驾驶车队队列控制技术,综述自动驾驶车队的系统框架及车辆建模、分布式控制器设计、车间通信和队列关联结构设计等队列控制关键技术,并从队列稳定性角度对以上关键技术进行分析评价。结合当前研究进展和实际应用可能面临的挑战,对自动驾驶车队需要重点关注的非线性、异质性、车间距策略切换等问题进行展望。

In order to provide a reference for the research on platoon control technology of automated vehicle platooning,this paper firstly introduces the system framework of vehicle platooning and the key technologies of platoon control,such as vehicle modeling,distributed controller design,V2 V communication and string interconnection structure design.Then,it analyzes and evaluates the above key technologies from the perspective of string stability.Finally,combining with the current research progress and the challenges that may be faced in practical application,it focuses on the non-linearity,heterogeneity and swithcing methods for spacing strategy in the future.