A novel cooperative driving model for platooning of connected and automated vehicles

This paper proposes a new cooperative driving model for the platooning of connected and automated vehicles on basic freeway sections. We introduce the desired speed, consider the communication delay between vehicles in the actual environment and employ the constant time headway policy as the spacing policy. In the model, the position error, the speed error, the difference between the desired speed and the speed of the considered vehicle and the acceleration are taken into account. The information obtained by vehicle communication is fully utilized, and the control effect of the control strategy is improved. We apply the Lyapunov-Krasovskii theorem to investigate the stability of the system. The effectiveness of the proposed model is verified by several traffic simulation scenarios.