This paper proposes a dynamic distance adaptation for Cooperative Adaptive Cruise Control (CACC) under time-varying network conditions. When the Quality of Service (QoS) drops below a level required to maintain desired inter-vehicle distances, an online adaptation of the reference distances, reflected by a change of the time headway factor, becomes necessary. We present a control design algorithm realizing a graceful degradation, for which a distance control to a virtual preceding vehicle is introduced. Furthermore, the Integral Quadratic Constraints (IQC) framework is applied to guarantee robust stability of the time-varying system. The concept is validated in simulation and experimentally using small-scale test vehicles.
@article{arxiv.2604.01795,
title = {Cooperative Adaptive Cruise Control with Variable Time Headway for Graceful Degradation under Fluctuating Network Quality of Service},
author = {Johannes Böhm and Eric Schöneberg and Kevin Schmidt and Wolfgang Fischer and Daniel Görges},
journal= {arXiv preprint arXiv:2604.01795},
year = {2026}
}