实车验证了车联网协同自适应巡航系统，填补了仿真与现实的空白。
Experimentally-Driven Analysis of Stability in Connected Vehicle Platooning: Insights and Control Strategies
- 基于车载通信的协同巡航控制，提升车队纵向稳定性
- 多辆实验车实测验证，显著改善车队动态响应性能
- 适合智能交通、自动驾驶车队研究者参考
本文构建了一个可运行的实车平台，用于演示车联网协同自适应巡航控制（CACC）系统的实际应用，该技术通过车联万物（V2X）通信对传统自适应巡航（ACC）进行增强。研究详细分析了现有纵向控制器在同质车辆队列中的表现，并通过多种自主实验车辆拓扑结构进行了大量测试，验证了控制器的有效性。仿真与实地测试结果均证实，所提出的CACC车队控制方法在纵向车队场景中具有显著优势。本研究弥补了现有文献的重要空白——尽管众多研究聚焦于仿真车队系统，但缺乏在真实车辆或机器人平台上对控制器的实证。本文通过实际演示，展示了CACC系统在智能交通系统中的应用潜力。
原文摘要 · Abstract (English)
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means of Vehicle-to-Everything (V2X) communication. It involves a detailed examination of existing longitudinal controllers and their performance in homogeneous vehicle platoons. Moreover, extensive tests are conducted using multiple autonomous experimental vehicle platform topologies to verify the effectiveness of the controller. The outcomes from both simulations and field tests affirm the substantial benefits of the proposed CACC platooning approach in longitudinal vehicle platooning scenarios. This research is crucial due to a notable gap in the existing literature; while numerous studies focus on simulated vehicle platooning systems, there is lack of research demonstrating these controllers on physical vehicle systems or robot platforms. This paper seeks to fill this gap by providing a practical demonstration of CACC systems in action, showcasing their potential for real-world application in intelligent transportation systems.
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