A Reliable Wireless Protocol for Highway and Metered-Ramp CAV Collaborative Merging with Constant-Time-Headway Safety Guarantee

To realize the grand vision of automated driving in smart vehicle cyber-physical systems (CPS), one important task is to support merging connected vehicles (CAVs) from a metered-ramp highway. Certain safety rules must be guaranteed. However, this demand complicated by inherently unreliable wireless communications. In paper, we focus on well adopted constant-time-headway (CTH) rule. We propose highway and CAV collaborative protocol, formally prove its guarantee CTH liveness under arbitrary data packet losses . These theoretical claims are further validated our simulations. Furthermore, simulation results also show significant improvements efficiency over other solution alternatives. Particularly, success rates more than \(99\% \) better 11 out 18 comparison pairs, \(0\% (i.e. tied) \(\sim 71\% remaining 7 pairs.