考虑相邻车换道影响的无人驾驶车辆队列速度控制策略OA

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.