Abstract: With the question of how to coordinate different trucks scattered on road to form a platoon, an optimal merging strategy of heavy-duty vehicles based on velocity and overall fuel consumption is proposed. Firstly,  based on the research of two heavy-duty vehicles, the merging condition, the optimal acceleration, the optimal merging speed and the location of the merging point can be obtained. Then the results are generalized and forming the general decision-making algorithm and the merging system controller design method. Numerical simulation and experiments show that the proposed method can greatly reduce the overall fuel consumption of vehicle fleets in fact.

Key words:  , Heavy-duty vehicle, freight transportation, merging control, speed optimization, fuel consumption

摘要： 针对如何协调分散在道路上的货车形成车队的问题，提出了一种以速度和整体油耗为基础的车辆最优合并决策策略及对应的合并控制方法。首先，根据两辆车的简单情况，获得合并条件及最优合并加速度、合并前后速度及合并位置。然后，将上述研究结果推广到通用的多车合并决策之中，形成通用的合并决策算法和合并控制器设计方法体系。仿真实验表明，用所提方法将车辆编组合并为车队行驶，可显著降低车队的整体油耗。

关键词: 重型车辆, 货物运输, 合并控制, 速度优化, 油耗