Stability of connected and automated vehicles platoon considering communications failures

Abstract

As a form of a future traffic system, a connected and automated vehicle (CAV) platoon is a typical nonlinear physical system. CAVs can communicate with each other and exchange information. However, communication failures can change the platoon system status. To characterize this change, a dynamic topology-based car-following model and its generalized form are proposed in this work. Then, a stability analysis method is explored. Finally, taking the dynamic cooperative intelligent driver model (DC-IDM) for example, a series of numerical simulations is conducted to analyze the platoon stability in different communication topology scenarios. The results show that the communication failures reduce the stability, but information from vehicles that are farther ahead and the use of a larger desired time headway can improve stability. Moreover, the critical ratio of communication failures required to ensure stability for different driving parameters is studied in this work.