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 20 for string stability, where 0 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 0 (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 40/(1 + r); and (3) furthermore, if the acceleration of 'r' immediately preceding vehicle is used, then the minimum employable headway can be reduced to 20/(1 + r).