An Efficient Safety-Oriented Car-Following Model for Connected Automated Vehicles Considering Discrete Signals

With the rapid development of Connected and Automated Vehicle (CAV) technology, limited self-driving vehicles have been commercially available in certain leading intelligent transportation system countries. When formulating car-following model for CAVs, safety is usually basic constraint. Safety-oriented models seek to specify a safe following distance that can guarantee if preceding vehicle were brake hard suddenly. The discrete signals CAVs bring series phenomena, including decision-making, phase difference, discretely distributed communication delay. influences these phenomena on are rarely considered literature. This paper proposes an efficient safety-oriented considering impact signals. constraints during both normal driving sudden incorporated into one integrated eliminate possible collisions whole process. mechanical delay information used improve efficiency. Four modules designed enhance comfort string stability case heavy packet losses. Simulations platoon with diversified types demonstrate safety, efficiency, proposed model. Tests different loss rates imply could even poor environments.