Effects of V2V Communication on Time Headway for Autonomous Vehicles
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© 2017 American Automatic Control Council (AACC). In this paper, we investigate the benefits of Vehicle-to-Vehicle (V2V) communication for autonomous vehicles employing a Constant Time Headway Policy (CTHP). It is known that ACC equipped vehicles employing a CTHP must maintain a time headway that is lower bounded by 2τ0 for string stability, where τ0 is the maximum value of parasitic actuation lag. We show the following: (1) if acceleration of preceding vehicle (obtained via V2V communication) were also to be used, then the minimum employable time headway can be reduced to τ0 (2) if the position and velocity information of r immediately preceding vehicles ahead were to be used, then the minimum employable time headway can be reduced to 4τ0/(1 + r); and (3) furthermore, if the acceleration of 'r' immediately preceding vehicle is used, then the minimum employable headway can be reduced to 2τ0/(1 + r).
author list (cited authors)
Darbha, S., Konduri, S., & Pagilla, P. R.