On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

Elham Abolfazli, Bart Besselink, Themistoklis Charalambous

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For platoons under the multiple-predecessor following (MPF) topology, communication delays can compromise both the internal stability and string stability. The most straightforward solution to guarantee stability is by increasing the time headway. However, time headway plays a significant role in road capacity and increasing its value is in contrast with the idea of platooning. In this study, internal stability and string stability of platoons suffering from communication delays are investigated and a lower bound for the time headway is proposed. Using this bound, platoons do not need to massively increase the time headway in order to compensate for the effects of communications delays. Finally, we evaluate the proposed lower bound on the time headway and the simulation results demonstrate its effectiveness.

Original languageEnglish
Pages (from-to) 8881 - 8894
Number of pages14
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number7
Early online date22-Jun-2021
Publication statusPublished - Jul-2022


  • Asymptotic stability
  • communication delays.
  • Delay effects
  • Delays
  • multiple-predecessor following topology
  • Platooning
  • Roads
  • Stability criteria
  • Thermal stability
  • time headway
  • Topology

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