【摘要】 为有效避免高速路况车辆因人为误操作导致的交通事故，提出了一种智能网联汽车自动驾驶控制模型。在PATH差距模型的基础上，考虑道路信息，提出了改进的车间距模型。采用预瞄曲率跟随模型，对高速路况下智能网联汽车单车道自动驾驶实施控制，并通过PreScan和MATLAB/Simulink进行联合仿真。结果表明，根据车距自适应确定车距增益实现了智能网联汽车的协同，车队可以在14 s的时间内达到预定车速，同时车速波动在1.2%以内，提高了车辆行驶的安全性和舒适性。更多还原

【Abstract】 In order to effectively avoid traffic accidents caused by human misoperation of vehicles in high-speed road conditions, an intelligent networked vehicle autonomous driving control model is proposed. Based on the PATH gap model and considering the road information, an improved workshop distance model is proposed. On this basis, the preview curvature following model is used to control the single-lane autonomous driving of intelligent connected vehicles under high-speed road conditions, and the co-simulation is carried out by PreScan and MATLAB/Simulink. The co-simulation results show that the coordination of intelligent connected vehicles can be realized by determining the vehicle distance gain according to the vehicle distance adaptation, and the fleet can reach the predetermined speed within 14 s, while the speed fluctuation is within 1.2%, which improves the vehicle driving safety and comfort.更多还原