行为可拓展式车辆队列控制方法与实车验证

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主题词：行为可拓展 车辆队列控制实车验证中图分类号：U495 文献标志码：A DOI：10.19620/j.cnki.1000-3703.20240993

Behavior-ExtendableVehiclePlatooning Control Method andReal-VehicleVerification

ZhuWeizhen’，YangHaoyu²，Liu Chang³，LuoYugong²，KongWeiwei （1.CollegeofEngineering，ChinaAgricultural University，BeijingOoo83;2.ScholofVehicleandMobility，Tsinghua University，Beijing;3.Xiaomi Auto Co.，Ltd.，Beijing）

【AbstractITo addressthe limitations of existing vehicle platoning control methods，such as poor behavior-extendable capabilities，dificultiesinhandlingdiverseplatoonbehaviorsduringhighwaydriving，andthelackofreal-worldroadtesting， thispaperproposesabehavior-extendablevehicleplatooningcontrol method.Aditionally，aleadervehicleacceleration predictionmethodunderpacketlossconditionsisdesigned，andareal-vehicleplatooning testplatform isestablished.The proposed methodis implementedonthereal-vehicle platform，andreal-vehicle experimentsareconductedunder packetloss conditions to validate its effectiveness.Road test results，with a maximum speed of 80km/h and a cumulative distance of approximately1Oo kilometers，demonstratethattheproposedvehicleplatooningcontrolmethodcansafelyandefectively manage and extend various platoon behaviors.During stabledriving，theaverage speed errorsofthe follwing vehicles areless than 0.62km/h and 1.55km/h ，respectively，while maintaining stable inter-vehicle spacing. These resultsverify the effectiveness，real-timeperformance，androbustness oftheproposed controlmethodand thereal-vehicle platform.

Keywords：Behavior-extendable，Vehicleplatooncontrol，Real-vehicle verification

【引用格式】朱洧震，杨皓宇，刘畅，等.行为可拓展式车辆队列控制方法与实车验证[J].汽车技术，2025（7）：40-48.ZHUWZ，YANGHY，LIUC，etal.Behavior-ExtendableVehiclePlatooingControlMethodandReal-VehicleVerification[J]. Automobile Technology，2025（7）： 40-48.

1前言

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