Abstract:Aiming at the lateral and longitudinal coordinated control of car-following and path tracking during the driving process of intelligent and connected platoon, a 3-degree-of-freedom vehicle dynamic model was considered as the control system, hierarchical longitudinal controller and lateral controller were designed base on the improved intelligent driver model (IDM) and preview-follower theory, respectively. Considering the coupling characteristics between the lateral, longitudinal movement of vehicle, the lateral and longitudinal coordinated control strategy was designed with the longitudinal speed as the state variable of the lateral controller, and the controller of the fleet was established on the CarSim/Simulink simulation platform. The lateral, longitudinal control performance of the controller were verified by single shift line and tunnel condition, respectively. Considering road conditions, such as turning, slopes and super-elevation, the ramp condition was set up to verify the lateral and longitudinal coordinated control performance of the controller, and the influence of super-elevation on car-following, path tracking accuracy and stability was analyzed. The results show that the controller can realize the tracking control of vehicle speed and steering under given conditions, and keeps a high tracking accuracy, good car-following effect and driving stability. For curved driving, the setting of super-elevation can make vehicle steering stable, speed tracking accuracy is higher and driving distance increases, which is conducive to improving the driving safety of the platoon.