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汽车安全与节能学报

汽车安全与节能学报 ›› 2026, Vol. 17 ›› Issue (3): 369-379.DOI: 10.3969/j.issn.1674-8484.2026.03.009

• 智能驾驶与智慧交通 • 上一篇    下一篇

基于混合跟驰策略的智能网联车辆协同控制与安全分析

郑元1,2(), 余文昊1,2, 李深3,*(), 刘洋4, 陈天怡5, 李萌3, 冉斌2   

  1. 1 现代城市交通技术江苏高校协同创新中心， 南京 211189， 中国
    2 东南大学 交通学院， 南京 211189， 中国
    3 清华大学 交通工程系， 北京 100084， 中国
    4 清华大学 车辆与运载学院， 北京 100084， 中国
    5 江苏交控数字交通研究院有限公司， 南京 210019， 中国
  • 收稿日期:2025-10-22 修回日期:2026-04-20 出版日期:2026-06-30 发布日期:2026-07-02
  • 通讯作者: *李深，副研究员。E-mail： sli299@tsinghua.edu.cn。
  • 作者简介:郑元（1992—），男，内蒙古（蒙古族），助理教授。E-mail：101013486@seu.edu.cn。
  • 基金资助:
    国家自然科学基金资助项目(52325209);国家自然科学基金资助项目(52272420);江苏省自然科学基金资助项目(BK20241326)

Collaborative control and safety analysis of connected and automated vehicles based on hybrid car-following strategy

ZHENG Yuan1,2(), YU Wenhao1,2, LI Shen3,*(), LIU Yang4, CHEN Tianyi5, LI Meng3, RAN Bin2   

  1. 1 Modern Urban Transportation Technology Jiangsu Collaborative Innovation Center, Nanjing 211189, China
    2 School of Transportation, Southeast University, Nanjing 211189, China
    3 Department of Traffic Engineering, Tsinghua University, Beijing 100084, China
    4 School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China
    5 JiangSu Communications Holding Digital Transportation Research Institute Co., Ltd, Nanjing 210019, China
  • Received:2025-10-22 Revised:2026-04-20 Online:2026-06-30 Published:2026-07-02

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摘要：

为改善固定空间距（CS）策略下智能网联车队的追尾风险，本文提出一种基于混合跟驰策略的新型智能网联车辆协同控制方法。车队头车采用固定时间距（CTG）策略，其余跟随车辆采用CS策略，应用线性反馈和前馈控制器构建跟驰控制模型；推导稳定性充分条件；开展数值仿真实验。结果表明：与纯CS策略相比，本文策略的碰撞时间阈值（TTCT）为3.0 s时，单个车队碰撞风险降低93%以上，2个车队碰撞风险降低97%以上；TTCT为2.0 s时，单个和2个车队均能消除高危碰撞隐患。与纯CTG策略相比，本文策略的车队运行效率可提升39%。因此，本文策略可望为智能网联车队实际应用和交通安全提升提供理论支撑。

关键词: 交通工程, 车辆安全, 追尾碰撞风险, 智能网联车队, 混合策略控制, 固定空间距（CS）, 固定时间距（CTG）

Abstract:

A novel cooperative control method for CAVs was proposed based on a hybrid car-following strategy to improve the traffic safety of the connected and automated vehicle (CAV) platoons using the constant spacing (CS) strategy in terms of the rear-end collisions. Specifically, the leader adopted the constant time gap (CTG) strategy while the followers used the CS strategy, the car-following control models were formulated based on the linear feedback and feedforward controllers, and the sufficient conditions of the string stability were derived. Numerical experiments were conducted and the results show that the proposed hybrid strategy reduces rear-end collision risks by more than 93% for a single platoon and 97% for two platoons under a time-to-collision threshold (TTCT) of 3.0 s compared with the pure CS strategy. All rear-end collision risks can be eliminated for both a CAV platoon and two CAV platoons when the TTCT is set at 2.0 s. The implementation of the hybrid car-following strategy for platooning of CAVs improves travel efficiency by 39% compared to the pure CTG strategy. Therefore, the proposed strategy provides a theoretical support for the car-following controls and safety improvements of the CAV platoons.

Key words: traffic engineering, traffic safety, rear-end collision risk, connected and automated vehicle (CAV) platoon, hybrid policy-based control, constant spacing (CS), constant time gap (CTG)

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