Fig 1.
Schematic of CAV platoons with communication limitations.
Fig 2.
Schematic diagram of information flow topologies for CAVs.
(a) Predecessor following topology, (b) Predecessor-leader following topology, (c) 𝕜 predecessor-leader following topology.
Table 1.
Variables and parameters description.
Table 2.
Simulation parameters.
Fig 3.
Overview of the numerical simulation.
Fig 4.
Position, gap, and acceleration profiles with PF topology on the freeway.
(a) Position evolution, (b) Gap evolution, (c) Acceleration evolution.
Fig 5.
Position, gap, and acceleration profiles with PF topology on the city road.
(a) Position evolution, (b) Gap evolution, (c) Acceleration evolution.
Fig 6.
Gap profiles with PLF topology under V2V range limitation on the freeway.
(a) Gap evolution with 4 CAVs in one platoon, (b) Gap evolution with 4 CAVs in one platoon, (c) Gap evolution with 8 CAVs in one platoon, (d) Gap evolution with 10 CAVs in one platoon.
Fig 7.
Gap evolution with 𝕜-PLF topology under V2V range limitation.
(a) Gap evolution with 4 CAVs in one platoon on the freeway, (b) Gap evolution with 6 CAVs in one platoon on the freeway, (c) Gap evolution with 8 CAVs in one platoon on the freeway, (d) Gap evolution with 10 CAVs in one platoon on the freeway, (e) Gap evolution with 4 CAVs in one platoon on the city road, (f) Gap evolution with 6 CAVs in one platoon on the city road, (g) Gap evolution with 8 CAVs in one platoon on the city road, (h) Gap evolution with 10 CAVs in one platoon on the city road.
Fig 8.
Time to restore to equilibrium under V2V range limitation.
Fig 9.
Gap evolution with PLF topology under V2V distance limitation.
(a) Gap evolution with communication distance of 50m on the freeway, (b) Gap evolution with communication distance of 80m on the freeway, (c) Gap evolution with communication distance of 110m on the freeway, (d) Gap evolution with communication distance of 140m on the freeway, (e) Gap evolution with communication distance of 50m on the freeway on the city road, (f) Gap evolution with communication distance of 80m on the freeway on the city road, (g) Gap evolution with communication distance of 110m on the freeway on the city road, (h) Gap evolution with communication distance of 140m on the freeway on the city road.
Fig 10.
Gap evolution with 𝕜-PLF topology under V2V distance limitation.
(a) Gap evolution with communication distance of 50m on the freeway, (b) Gap evolution with communication distance of 80m on the freeway, (c) Gap evolution with communication distance of 110m on the freeway, (d) Gap evolution with communication distance of 140m on the freeway, (e) Gap evolution with communication distance of 50m on the freeway on the city road, (f) Gap evolution with communication distance of 80m on the freeway on the city road, (g) Gap evolution with communication distance of 110m on the freeway on the city road, (h) Gap evolution with communication distance of 140m on the freeway on the city road.
Fig 11.
Time to restore to equilibrium under V2V distance limitation.
Fig 12.
Gap evolution of heterogeneous platoon on the freeway.
(a) Gap evolution with communication distance of 50m under PLF topology, (b) Gap evolution with communication distance of 50m under 𝕜-PLF topology, (c) Gap evolution with 4 vehicles in one platoon under PLF topology, (d) Gap evolution with 6 vehicles in one platoon under 𝕜-PLF topology.
Table 3.
Performance comparison across topologies and scenarios.