为提高交通效率和道路安全，对公路环境中的智能车辆编队控制问题进行了研究.采用人工势场和虚拟领航者相结合的方法进行车辆控制，考虑公路环境约束和编队纵横向安全距离，以理想公路编队为目标，提出虚拟领航者椭圆势场作用域，建立编队单元模型，并通过Lyapunov函数证明了模型的稳定性.为提高编队单元模型的应用灵活性，消除多车编队车辆位置误差问题，将分解-迭代思想引入到多车辆编队控制中，依据道路条件设立编队单元的纵横向迭代.以六车辆编队为例进行仿真验证，结果表明：所建立的车辆编队模型可以稳定有效地控制车辆，实现理想公路编队行为.
In order to improve the traffic efficiency and the road safety, this paper studied the formation control of intelligence vehicles in highway environment. The combination of the artificial potential field and the virtual leader method was adopted to control vehicles. Taking the ideal road formation as the goal, the elliptical virtual force scope of virtual leader was proposed and the formation unit model was established under the condition of considering the longitudinal and horizontal safety distance of formation and the highway environment security constraints. Then, the stability of the unit model was proved by Lyapunov function. In order to improve the formation flexibility and eliminate the position errors of vehicles, the decomposition-iterative idea was introduced to the multi-vehicle formation control, and the vertical and horizontal iterations of formation units were set up according to road conditions. Taking the six-vehicle formation as the simulation verification example, the result of simulation shows that the formation model can stably and effectively control vehicles to achieve the ideal highway formation.
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