Aiming at the problems of heavy workload and unstable switching process caused by the design algorithm of separate working conditions in the existing longitudinal control strategy, this paper proposes a unified preview decision-making model, which imitates human driving behavior, and comprehensively decides the optimal longitudinal acceleration through safety, legality, and evaluation indicators; in addition, for the safe distance model based on kinematics analysis that has poor traffic efficiency and does not consider the driver’s driving habits, this paper proposes a safe distance model based on the driver’s preview characteristics and a safety judgment method based on predicted lanes; the human-vehicle-road closed-loop simulation test shows that the preview decision-making proposed in this paper can meet the expected acceleration decision of various traffic conditions. The safety distance model and safety judgment method based on the preview characteristics are scientific, reasonable, and effective.

针对现有纵向控制策略中分离工况的设计算法导致工作量大、切换过程不稳定的问题，提出了统一的预览决策模型，模仿人类驾驶行为，综合决策最优纵向通过安全性、合法性和评估指标加速；此外，针对基于运动学分析的安全距离模型交通效率较差且未考虑驾驶员驾驶习惯的安全距离模型，本文提出了基于驾驶员预览特征的安全距离模型和基于预测车道的安全判断方法；人车路闭环仿真试验表明，本文提出的预览决策能够满足各种交通条件下的预期加速度决策。基于预览特征的安全距离模型和安全判断方法科学、合理、有效。