In order to satisfy the requirement of experiment and verification of vehicle platooning research, a vehicle with driving assistance function was designed, and an extensible and multi-scenario switchable vehicle platooning experimental platform was developed. The platooning vehicles are controlled horizontally by pure tracking algorithm based on visual perception and vertically by cooperative adaptive cruise based on millimeter wave. Hardware system architecture of the platooning experimental platform is built based on vehicles with driving assistance function, and vehicle role and function scene element from the software system are used to realize extension and multi-scenario switch of vehicle platooning. Finally, vehicle platooning experimental platform was established based on three minicars, function and performance test were conducted. The results show that this platooning experimental platform has function including vehicle queuing, vehicle platoon forming, and vehicle platoon driving steadily, with good control effect.

Intelligent and connected vehicle  /  Extensibility  /  Multi-scenario switch  /  Experimental platform