辆队列安全跟驰的通信延时边界为0.2s,这也与文献[0中理论分析的结果相一致。然后, 将前两个场景下保存的头车数据通过头车的DSRC设备发给后车的DSRC设备,并计算出了 DSRC信道的通信延时及丢包率。 仿真结果表明,在常规加速-巡航-减速场景下,头车动态缓慢变化,纵向控制策略可以 容忍更大的通信延时( delay<∞0.8s)。而在急刹车场景下,头车动态剧烈变化时,纵向控制策略 则需要较小的通信延时( delay<o.2s)以保证车辆队列的安全。为下一步实现多种测试场景(不 同的跟驰间距、城市交通场景、高速公路场景)、多种上位机控制器以及多种通信延时条件 下的测试打下了良好的基础。 参考文献 [1] RajamaniR, Tan HS, Law B K, et al. Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons[J]. IEEE Transactions on Control Systems Technology, 2000, 8(4): 695-708 2] Liang, Kuo-Yun, Jonas Martensson, and Karl H Johansson. "Experiments on platoon formation of heavy trucks in traffic. "Intelligent Transportation Systems(ITSC), 2016 IEEE 19th International Conference on IEEE 2016 3 Ding, Jishiyu, et al. Cooperative Adaptive Cruise Control in Vehicle Platoon under nvironment of i-VICS. 2018 21st International Conference on Intelligent Transportation Systems (ITSC). IEEE, 2018 4] Xu Q, Sengupta R. Simulation, analysis, and comparison of ACC and CACC in highway merging control[C)/ IEEE Intelligent Vehicles Symposium IEEE, 2003 5] Arem B V, Driel C V, Visser R. The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics[J]. IEEE Transactions on Intelligent Transportation Systems,2007,7(4)429436 [6]Kato S, Tsugawa S, Tokuda K, et al. Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications[J]. IEEE Transactions on ntelligent Transportation Systems, 2002, 3(3): 155-161 [7 Englund C, Chen L, Ploeg J, et al. The Grand Cooperative Driving Challenge 2016 boosting the introduction of cooperative automated vehicles[J]. IEEE Wireless Communications, 2016, 23(4): 146-152 8] Dolk V, Ouden J D, Steeghs $, et al. Cooperative Automated Driving for Various Traffic Scenarios: Experimental Validation in the GCDC 2016J. IEEE Transactions on Intelligent Transportation Systems, 2018, PP(99): 1-14 9] Hult R, Sancar FE, Jalalmaab M, et al. Design and Experimental Validation of a Cooperative Driving Control Architecture for the grand Cooperative Driving Challenge 2016J] IEEE Transactions on Intelligent Transportation Systems, 2018, 19(4): 1290-1301 [10 Bin Tian, Zhigang Xu, Xiaofeng Deng, Yuqin Zhang, Xiangmo Zhao Communication Delay Boundary Modeling for Homogeneous CACC String Stability. 2019. (hal-02000855 请附作者简介,格式见征文要求 作者简介邓晓峰,男,长安大学信息工程学院硕士硏究生,主要研究方向为车联网仿真测试 评价技术,联系电话:18829041897,电子邮箱:408612838@qq.c0m; (c)1994-2019ChinaAcademicJournalElectronicPublishingHouse.Allrightsreservedhttp://www.cnki.net辆队列安全跟驰的通信延时边界为0.2s，这也与文献[10]中理论分析的结果相一致。然后， 将前两个场景下保存的头车数据通过头车的DSRC设备发给后车的DSRC设备，并计算出了 DSRC信道的通信延时及丢包率。 仿真结果表明，在常规加速-巡航-减速场景下，头车动态缓慢变化，纵向控制策略可以 容忍更大的通信延时(delay<0.8s)。而在急刹车场景下，头车动态剧烈变化时，纵向控制策略 则需要较小的通信延时(delay<0.2s)以保证车辆队列的安全。为下一步实现多种测试场景（不 同的跟驰间距、城市交通场景、高速公路场景）、多种上位机控制器以及多种通信延时条件 下的测试打下了良好的基础。 参考文献 [1] Rajamani R , Tan H S , Law B K , et al. Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons[J]. IEEE Transactions on Control Systems Technology, 2000, 8(4):695-708. [2] Liang, Kuo-Yun, Jonas Mårtensson, and Karl H. Johansson. "Experiments on platoon formation of heavy trucks in traffic." Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on. IEEE, 2016. [3] Ding, Jishiyu, et al. "Cooperative Adaptive Cruise Control in Vehicle Platoon under Environment of i-VICS." 2018 21st International Conference on Intelligent Transportation Systems (ITSC). IEEE, 2018. [4] Xu Q , Sengupta R . Simulation, analysis, and comparison of ACC and CACC in highway merging control[C]// IEEE Intelligent Vehicles Symposium. IEEE, 2003. [5] Arem B V , Driel C J G V , Visser R . The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics[J]. IEEE Transactions on Intelligent Transportation Systems, 2007, 7(4):429-436. [6] Kato S , Tsugawa S , Tokuda K , et al. Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications[J]. IEEE Transactions on Intelligent Transportation Systems, 2002, 3(3):155-161. [7] Englund C , Chen L , Ploeg J , et al. The Grand Cooperative Driving Challenge 2016: boosting the introduction of cooperative automated vehicles[J]. IEEE Wireless Communications, 2016, 23(4):146-152. [8] Dolk V , Ouden J D , Steeghs S , et al. Cooperative Automated Driving for Various Traffic Scenarios: Experimental Validation in the GCDC 2016[J]. IEEE Transactions on Intelligent Transportation Systems, 2018, PP(99):1-14. [9] Hult R , Sancar F E , Jalalmaab M , et al. Design and Experimental Validation of a Cooperative Driving Control Architecture for the Grand Cooperative Driving Challenge 2016[J]. IEEE Transactions on Intelligent Transportation Systems, 2018, 19(4):1290-1301. [10] Bin Tian, Zhigang Xu, Xiaofeng Deng, Yuqin Zhang, Xiangmo Zhao. Communication Delay Boundary Modeling for Homogeneous CACC String Stability. 2019. 〈hal-02000855〉 请附作者简介，格式见征文要求 作者简介邓晓峰，男，长安大学信息工程学院硕士研究生，主要研究方向为车联网仿真测试 评价技术，联系电话：18829041897，电子邮箱：408612838@qq.com；