摘要：AbstractThe paper proposes a systematic way to find the communication structure of cooperative adaptive cruise controllers for vehicle platoons. It investigates under what conditions the controlled vehicles follow asymptotically the time-headway spacing policy. The result is a requirement on the individual vehicle delay, which is a quantity that is directly related to the dynamics of the controlled vehicles. If the delay is too large, communication from vehicles ahead improve the performance of the vehicle within the platoon. This requirement leads to the answer of the question which vehicles have to communicate their velocity to which other vehicles and how should the vehicles combine the information received to asymptotically observe the time-headway requirement.
