Reducing time headway in platoons under the MPF topology in the presence of communication delays

Elham Abolfazli*, Bart Besselink, Themistoklis Charalambous

*Corresponding author for this work

Research output: Contribution to journalConference articleScientificpeer-review

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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. On the other hand, 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. Copyright (C) 2020 The Authors.

Original languageEnglish
Pages (from-to)15267-15274
Number of pages8
Issue number2
Publication statusPublished - 2020
MoE publication typeA4 Conference publication
EventIFAC World Congress - Virtual, Online
Duration: 11 Jul 202017 Jul 2020
Conference number: 21


  • Platooning
  • multiple-predecessor following
  • communication delays
  • internal stability
  • string stability
  • time headway


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