【摘要】 文中分析了车辆队列控制方法中传统的领航-虚拟跟随法存在模型误差的问题，提出一种考虑跟随车参考路径点连线与横轴的夹角作为参考航向角的改进领航-虚拟跟随方法，将队列控制问题转化为对特定位置的轨迹跟踪问题。然后基于车辆运动学模型实时规划跟随车的速度，运用误差修正的Stanley方法和PD控制分别进行车辆横向控制和车辆纵向油门/刹车控制。最后，通过CarSim/Simulink联合仿真，验证了改进领航-虚拟跟随方法在3车三角形队列圆周和正弦曲线工况下的效果。结果表明：改进领航-虚拟跟随方法较传统领航-虚拟跟随法，使1号和2号跟随车横向误差均值和最大值得到了降低。更多还原

【Abstract】 The causes of model errors in the traditional navigation-virtual following method of vehicle parade control are analyzed, and an improved navigation-virtual following method is proposed, which uses the angle between the reference path point of the following vehicle and the horizontal axis as the reference heading angle, which turns the parade control problem into the trajectory tracking problem of a specific position. Then, based on the vehicle kinematics model, the following vehicle’s speed planning is carried out in real time, and the error correction Stanley method and PD control are adopted for lateral control and longitudinal throttle/brake control respectively. Finally, through the joint simulation of CarSim/Simulink,the effect of the improved navigation-virtual following method under the working conditions of three-vehicle triangle parade circumference and sinusoidal curve is verified. Results show that, compared with the traditional navigation-virtual following method, the improved navigation-virtual following method reduces the average and maximum lateral error between No.1 and No.2 following vehicles.更多还原