构建可扩展的三车编队实验平台，支持真实感协同控制研究。
A Scaled Three-Vehicle Platooning Platform
- 采用一人为驾驶领车+两台自主跟车的缩比平台，实现可控重复实验。
- 相比全尺寸路测更安全低成本，较纯仿真更具物理真实性。
- 适用于编队控制、人机协同等多智能体系统验证，适合自动驾驶研发者。
车辆编队因能通过多车协同提升交通效率、降低能耗并增强道路安全而受到广泛关注。编队中的关键挑战在于动态变道等操作下保持稳定精确的路径跟踪，此时前车产生的横向偏差与航向扰动可能沿编队传播至后车。因此，鲁棒的纵向与横向控制对于单辆车跟踪性能及整体编队稳定性至关重要。为开展实验研究，智能移动与机器人实验室（IMRL）开发了一套缩比多车编队平台，特别聚焦于协同控制与人机协同自主。该平台包含一辆人工操控的领车和两辆自主跟车，可实现对领车-跟车协调的受控且可重复的实验。相较于全尺寸实路测试，该缩比平台提供了更安全、成本更低、灵活性更高的快速原型设计、控制器验证及多智能体自主性研究环境，同时相比纯仿真评估具有更强的物理真实性。
原文摘要 · Abstract (English)
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in maintaining stable and accurate path tracking during dynamic maneuvers such as lane changes, where lateral deviations and heading disturbances generated by the lead vehicle may propagate downstream to following vehicles. Robust longitudinal and lateral control systems are therefore essential not only for individual vehicle tracking performance, but also for overall platoon stability. For experimental studies, the Intelligent Mobility and Robotics Lab (IMRL) develops a scaled multi-vehicle platform for autonomous platooning research, with a particular emphasis on cooperative control and human-in-the-loop autonomy. This platform consists of one human-operable lead vehicle and two autonomous followers, enabling controlled and repeatable experiments on leader-follower coordination. Compared with full-scale field testing, this scaled platform offers a safer, lower-cost, and more flexible environment for rapid prototyping, controller validation, and multi-agent autonomy studies, while providing stronger physical realism than purely simulation-based evaluations.
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