数字孪生驱动的商用车队列纵横向控制

doi:10.13229/j.cnki.jdxbgxb.20231367

吉林大学学报(工学版) ›› 2025, Vol. 55 ›› Issue (6): 1994-2002.doi: 10.13229/j.cnki.jdxbgxb.20231367

• 交通运输工程·土木工程 • 上一篇下一篇

数字孪生驱动的商用车队列纵横向控制

于树友¹(),谢华城¹,李文博¹,李永福²,陈虹^1,³,林宝君¹()

^1.吉林大学通信工程学院，长春 130022
^2.重庆邮电大学工业物联网与网络化控制教育部重点实验室，重庆 400065
^3.同济大学电子与信息工程学院，上海 200092

收稿日期:2023-12-08 出版日期:2025-06-01 发布日期:2025-07-23
通讯作者: 林宝君 E-mail:shuyou@jlu.edu.cn;linbj@jlu.edu.cn
作者简介:于树友（1974-），男，教授，博士.研究方向：预测控制，鲁棒控制.E-mail：shuyou@jlu.edu.cn
基金资助:
国家自然科学基金项目(U1964202);工业物联网与网络化控制教育部重点实验室开放基金项目(2019FF01);吉林省科学基金项目(YDZJ202101ZYTS169)

Digital twin driven longitudinal and lateral control of truck platoon

Shu-you YU¹(),Hua-cheng XIE¹,Wen-bo LI¹,Yong-fu LI²,Hong CHEN^1,³,Bao-jun LIN¹()

^1.College of Communication Engineering，Jilin University，Changchun 130022，China
^2.Key Laboratory of Intelligent Air-Ground Cooperative Control，Chongqing University of Posts and Telecommunications，Chongqing 400065，China
^3.College of Electronics and Information Engineering，Tongji University，Shanghai 200092，China

Received:2023-12-08 Online:2025-06-01 Published:2025-07-23
Contact: Bao-jun LIN E-mail:shuyou@jlu.edu.cn;linbj@jlu.edu.cn

摘要/Abstract

摘要：

考虑了队列行驶时的纵向和横向运动，提出了基于数字孪生的车辆队列协同控制系统。纵向运动设计采用PID控制，以保证队列的稳定行驶。横向运动设计采用LQR控制，以保证横向车道跟踪性能。由Prescan、TruckSim、Matlab/Simulink搭建数字孪生仿真场景，基于纵向和横向控制，对车辆队列的纵向跟随和横向车道跟踪性能进行动态仿真。数字孪生通过远程控制车辆队列和监测队列的纵/横向速度、横向位置和横摆角偏差等指标，对控制策略和参数进行全面调试和优化。仿真结果表明，数字孪生驱动的商用车队列控制系统具有良好的队列跟踪和车道保持性能。

关键词: 自动控制技术, 数字孪生, 车辆队列, 车道保持, 纵横向控制

Abstract:

A vehicle platoon cooperative control system based on digital twin was proposed， considering the longitudinal and lateral motion. The proportional-integral-derivative （PID） control was designed to ensure stable driving of the convoy. The linear quadratic regulator （LQR） control was designed to ensure the lateral lane tracking performance. A digital twin simulation scenario was build using Prescan， TruckSim， and Matlab/Simulink， and the longitudinal following and lateral lane tracking performance of vehicle queues was dynamically simulated based on longitudinal and lateral control. The digital twin comprehensively debugs and optimizes the control strategy and parameters by remotely controlling the vehicle platoon and monitoring indicators such as longitudinal and lateral velocity， lateral position and yaw angle deviation of the platoon. The simulation results show that the digital twin driven truck platoon control system has good tracking performance and lane-keeping performance.

Key words: automatic control technology, digital twin, vehicle platoon, lane-keeping, longitudinal and lateral control

中图分类号:

TP273

于树友,谢华城,李文博,李永福,陈虹,林宝君. 数字孪生驱动的商用车队列纵横向控制[J]. 吉林大学学报(工学版), 2025, 55(6): 1994-2002.

Shu-you YU,Hua-cheng XIE,Wen-bo LI,Yong-fu LI,Hong CHEN,Bao-jun LIN. Digital twin driven longitudinal and lateral control of truck platoon[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(6): 1994-2002.

图/表 20

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表1

车辆动力学参数"

参数	数值
$m i$ /kg	18 000
$I i z$ $/ (k g ? m 2)$	130 421.8
$l f, i$ /m	3.5
$l r, i$ /m	1.5
$τ i$ /s	0.25
$C i c f$ / $(N · r a d - 1)$	5.422 5×10⁵
$C i c r$ / $(N · r a d - 1)$	1.066 3×10⁵

表1

表2

纵向和横向控制器参数"

参数	数值
$k x$	8.1
$k v$	0.9
$d 0$ /m	9.5
$h$ /s	0.6
$L$ /m	5
$Q i h$	$d i a g (1 ? 000,100,1000,100)$
$R i h$	1 000

表2

图5

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参考文献 21

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数字孪生驱动的商用车队列纵横向控制

Digital twin driven longitudinal and lateral control of truck platoon

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