摘要
由于目前对卡车自动驾驶技术研究主要集中在单车智能驾驶基础上,着重于解决自动驾驶安全和稳定性问题。但从目前国内外研究成果来看,无法完全解决自动驾驶车辆在公开道路上与交通参与者的行驶安全问题,主要原因为自动驾驶感知系统无法对道路环境做出绝对准确的识别而导致决策规划失效。本文基于卡车单车自动驾驶系统研究成果,采用车队中首车人开跟随车辆自动驾驶策略结合车联网V2V技术提出一种多车协同式编队自动驾驶纵向油门刹车的滑模控制模型,实现自动驾驶跟随车辆近距离以稳定车距跟随首车。同时,通过V2V技术,自动驾驶车辆可及时响应首车司机做出的决策,完全解决自动驾驶车辆上与交通参与者的行驶安全问题。
The current research on truck autonomous driving technology mainly focuses on the intelligent driving of bicycles,which focuses on solving the problems of autonomous driving safety and stability.However,judging from the current research results at home and abroad,it is impossible to completely solve the driving safety problem of autonomous vehicles and traffic participants on open roads.Based on the research results of the automatic driving system of a single truck,this paper adopts the automatic driving strategy of the first vehicle in the fleet and the following vehicle combined with the V2V technology of the Internet of Vehicles,and proposes a multi-vehicle cooperative formation automatic driving longitudinal accelerator braking sliding mode control model to achieve automatic driving.The vehicle follows the lead vehicle at a close distance with a stable distance.At the same time,through V2V technology,the self-driving vehicle can respond to the decisions made by the first driver in a timely manner,completely solving the driving safety problem of the self-driving vehicle and traffic participants.
作者
黄露
姚丽
杨易
Huang Lu;Yao Li;Yang Yi
出处
《时代汽车》
2022年第13期10-12,共3页
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关键词
自动驾驶
队列行驶
滑模控制
车联网
autonomous driving
platoon driving
sliding mode control
Internet of Vehicles
