In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the input of the leading vehicle. We reinforce our previous work on lossy CACC platoons by accommodating for burst-noise behavior in the V2V link. Further, through Monte Carlo type simulations, we demonstrate that connectivity can enhance traffic mobility and safety in a CACC string even when the deceleration capabilities of the vehicles in the platoon are heterogeneous.
@article{arxiv.2003.04511,
title = {Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings},
author = {Vamsi Vegamoor and Shaojie Yan and Sivakumar Rathinam and Swaroop Darbha},
journal= {arXiv preprint arXiv:2003.04511},
year = {2020}
}
Comments
Fixed some typos and references after acceptance to IEEE ITSC 2020