考虑形态参数的自动驾驶卡车编队油耗分析

张希; 宋明涛; 黄妍妮; 陈丰

doi:10.3963/j.jssn.1674-4861.2025.01.014

考虑形态参数的自动驾驶卡车编队油耗分析

doi: 10.3963/j.jssn.1674-4861.2025.01.014

张希^{1, 2,},
宋明涛^{1, 2, ,},
黄妍妮³,
陈丰³

1.
哈尔滨工业大学（深圳）建筑学院广东深圳 518000
2.
深圳市城市公共安全技术研究院有限公司交通运输安全研究所广东深圳 518000
3.
同济大学道路与交通工程教育部重点实验室上海 201800

基金项目:

国家自然科学基金项目 51978522

详细信息

作者简介:
张希（1985—），博士研究生. 高级工程师. 研究方向：交通管理与安全等. E-mail: zhangxi@szsti.org

通讯作者:
宋明涛（1994—），博士，工程师. 研究方向：交通管理与安全等. E-mail: drmingyang@163.com

中图分类号: U461.8
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- 被引次数: 0
出版历程
- 收稿日期: 2024-07-03
- 网络出版日期: 2025-06-27

Analysis of the Autonomous Truck Platoon's Fuel Consumption Considering Morphological Parameters

ZHANG Xi^{1, 2
,},
SONG Mingtao^{1, 2
, ,},
HUANG Yanni³,
CHEN Feng³

1.
Institute of Transportation Safety Research, Shenzhen Technology Institute of Urban Public Safety, Shenzhen 518000, Guangdong, China
2.
School of Architecture, Harbin Institute of Technology(Shenzhen), Shenzhen 518000, Guangdong, China
3.
Key Laboratory of Road and Traffic Engineering of Ministry of Education, Tongji University, Shanghai 201804, China

摘要

摘要: 纵向间隔距离、横向偏移距离、横向分布模式、车辆数量等形态参数直接影响卡车编队空气阻力特性，进而影响其油耗。解析形态参数对卡车编队油耗的影响有利于合理制定卡车编队方案，优化自动驾驶卡车编队燃油节省率，并可为综合性评估自动驾驶卡车编队经济效益提供数据参考。采集并分析了卡车行驶状态数据，构建了不同形态参数组合的卡车编队方案，并基于三维非结构化网格建模方法，建立了343个2车编队与2 401个3车编队的计算流体力学模型。通过计算流体力学数值模拟，解算所有编队形态的车辆空气阻力系数。利用获取的编队车辆空气阻力系数，采用蒙特卡洛模拟随机取样并结合油耗计算流程，实现动态编队的车辆油耗估计。结果表明：较小的纵向间隔距离与横向偏移距离更有利于降低编队整体油耗，且3车编队的燃油节省率优于2车编队。2车编队领航车与队尾车空气阻力系数分别为单辆车的87.43%~100.6%与58.00%~76.30%；3车编队领航车、中间车、队尾车的空气阻力系数分别为单辆车的84.19%~100.9%、45.65%~81.19%与45.24%~77.20%。对于横向偏移，引入的横向分布模式消减了横向偏移对编队燃油节省率的不利影响；当纵向间隔距离为6 m、横向分布宽度为90 cm、横向分布模式为正态分布时，2车编队与3车编队的车辆均节省燃油10.71%与15.65%。
- 交通工程 /
- 卡车编队 /
- 车辆油耗 /
- 计算流体力学 /
- 编队形态
Abstract: Air drag and fuel consumption of an autonomous truck platoon are critically influenced by its morphological parameters: longitudinal interval, lateral offset, lateral distribution mode, and number of vehicles. A comprehensive analysis of morphological parameters' impact on truck platoon fuel consumption can facilitate the rational formulation of truck platoon, optimize fuel-saving rates, and provide data for further evaluation of economic benefits. Based on the driving data, 343 two-truck platoons and 2 401 three-truck platoons with different morphological parameters are proposed. Using a three-dimensional unstructured grid modeling method, models of all these truck platoons have been developed. Air drag coefficients of all platoons are calculated by computational fluid dynamics simulations. With these air drag coefficients and a method for calculating fuel consumption, fuel consumption estimation of all platoons has been analyzed using Monte Carlo simulation. The results show that smaller longitudinal intervals and lateral offsets are more conducive to reducing the fuel consumption of a platoon, and a three-truck platoon exhibit superior fuel-saving performance compared to a two-truck platoon. For a two-truck platoon, air drag coefficients of its leader truck and its tail truck are 87.43%~100.6% and 58.0%~76.30% of that of a single truck respectively. For a three-truck platoon, the air drag coefficients of the leader truck, the middle truck and the tail truck are 84.19%~100.9%, 45.65%~81.19% and 45.24%~77.20% of that of a single truck respectively. For a dynamic truck platoon, adverse effect caused by lateral offset has been eliminated by the proposed lateral distribution mode. While the longitudinal interval equals six meters and lateral offset distributes within 90 cm with a normal distribution, average fuel saving rates of a two-truck platoon and a three-truck platoon are 10.71% and 15.65%, respectively.
- traffic engineering /
- truck platoon /
- vehicle fuel consumption /
- computational fluid dynamics /
- truck platoon formation

HTML全文

图 1 1 782辆大型货车横向位置分布图

Figure 1. The lateral distribution of 1 782 large trucks

下载: 全尺寸图片幻灯片

图 2 卡车模型

Figure 2. The truck model

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图 3 某3车编队计算模型示意图

Figure 3. Computing domain of a three-truck platoon

下载: 全尺寸图片幻灯片

图 4 不同形态参数下2车编队领航车与队尾车空气阻力系数

Figure 4. The two-truck platoon's air drag coefficient with different formation parameters

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图 5 C-WTVC重型商用车速度与加速度循环曲线

Figure 5. Velocity and acceleration cycle curve of a heavy commercial truck from C-WTVC

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图 6 不同纵横向形态参数下2车编队车均燃油节省率

Figure 6. The average fuel saving rate of a two-truck platoon with different lateral offset and longitudinal interval

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表 1 当前研究中卡车编队的纵向间隔距离取值情况

Table 1. The value of longitudinal interval distance of truck platoon in the current study

作者或项目	车辆数/辆	实验方法	速度/(km/h)	纵向间隔/m
Promote-Chauffeur项目^[22]	2	试验跑道	80	6.7~14
PATH项目^[23]	2	机场跑道	89	10
SARTRE项目	2	高速公路	85	8~15
Energy ITS^[24]	4	高速公路	80	4.7~10
Ellis等^[25]	3	仿真场景	105	5
Vegendla等^[26]	2	仿真场景	89	9~30
Bishop等^[27]	2	室外试验	105	9
Nuszkowski等^[8]	2	高速公路	100	67.4

下载: 导出CSV

表 2 不同形态参数下3车编队空气阻力系数比Cd/Cd₀

Table 2. Air drag coefficient Cd/Cd₀ of a three-truck platoon with different formation morphological parameters

车辆位次		不同纵向间隔距离下3车编队空气阻力系数比Cd/Cd₀/%
车辆位次		Z=6m	Z=9m	Z=12m	Z=18m	Z=24m	Z=36m	Z=48m
领航车	最小值	84.19	90.91	94.63	97.49	98.09	98.41	98.31
	均值	86.06	93.08	96.79	99.25	99.84	100.00	99.88
	最大值	87.75	94.77	97.68	100.50	100.90	101.50	101.10
中间车	最小值	45.65	53.05	57.92	62.97	66.18	69.50	71.83
	均值	52.17	58.45	62.41	66.78	69.14	72.06	73.93
	最大值	64.55	69.51	73.38	75.00	77.11	78.64	81.19
队尾车	最小值	45.24	48.20	50.16	54.09	57.19	61.87	64.65
	均值	51.23	52.65	53.99	57.09	60.43	64.99	67.75
	最大值	67.69	69.27	67.99	68.20	70.18	71.22	77.20

下载: 导出CSV

表 3 不同动态编队形态下2车编队车均燃油节省率

Table 3. The average fuel saving rates of a dynamic two-truck platoon with different formations.

编队方案	不同纵向间隔距离下2车编队车均燃油节省率/%
编队方案	Z=6m	Z=9m	Z=12m	Z=18m	Z=24m	Z=36m	Z=48m
W10_f1	11.21	9.35	8.19	7.12	6.54	6.19	5.73
W10_f2	11.19	9.36	8.19	7.12	6.54	6.19	5.72
W20_f1	11.16	9.37	8.19	7.11	6.54	6.20	5.70
W20_f2	11.13	9.38	8.19	7.10	6.55	6.20	5.69
W40_f1	11.07	9.34	8.17	7.08	6.55	6.18	5.69
W40_f2	11.01	9.26	8.14	7.06	6.54	6.16	5.71
W60_f1	10.96	9.22	8.12	7.04	6.53	6.15	5.71
W60_f2	10.80	9.06	8.03	6.97	6.48	6.11	5.71
W90_f1	10.71	8.99	7.98	6.93	6.44	6.09	5.71
W90_f2	10.42	8.75	7.80	6.79	6.31	6.04	5.68

下载: 导出CSV

表 4 不同动态编队形态下3车编队车均燃油节省率

Table 4. The average fuel saving rates of a dynamic three-truck platoon with different formations.

编队方案	不同纵向间隔距离下3车编队车均燃油节省率/%
编队方案	Z=6m	Z=9m	Z=12m	Z=18m	Z=24m	Z=36m	Z=48m
W10_f1	16.20	14.01	12.61	11.05	10.02	8.79	8.09
W10_f2	16.21	14.01	12.62	11.05	10.03	8.82	8.11
W20_f1	16.21	14.01	12.63	11.04	10.04	8.86	8.13
W20_f2	16.21	14.00	12.62	11.03	10.03	8.89	8.14
W40_f1	16.13	13.94	12.58	11.00	10.01	8.90	8.17
W40_f2	16.02	13.85	12.51	10.94	9.98	8.89	8.20
W60_f1	15.96	13.80	12.48	10.93	9.99	8.88	8.21
W60_f2	15.75	13.64	12.36	10.85	9.95	8.85	8.23
W90_f1	15.65	13.56	12.29	10.82	9.92	8.82	8.20
W90_f2	15.29	13.28	12.04	10.66	9.81	8.74	8.14

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