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Where φ PWMMbest is the optimal phase shift angle and f syn is the sending frequency of synchronous signals. .
Where φ PWMMbest is the optimal phase shift angle and f syn is the sending frequency of synchronous signals.
In order to investigate the impact of packet loss ratio and beacon sending frequency on ACC and CACC string stability performance, a simulation study was performed.
It can also be observed that for a selected value of packet loss ratio, the string stability becomes worse as the beacon sending frequency decreases.
Accordingly, for a given value of packet loss ratio and time headway, the string stability gets worse with a lower beacon sending frequency.
Therefore, a higher beacon sending frequency for the preceding vehicle results in a higher possibility of receiving fresh information under a constant packet loss ratio.
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The undershoot is shown for different combinations of selected beacon sending frequencies and packet loss ratios.
The undershoot of velocity for the last vehicle is shown for different combinations of selected beacon sending frequencies and packet loss ratios, see Figure 16.
The overshoot of velocity for the last vehicle is shown for different combinations of selected beacon sending frequencies and packet loss ratios, see Figure 17.
Lower beacon sending frequencies and/or higher packet loss ratios, which prevent vehicles from receiving fresh information from preceding vehicles, will lower the CACC controller's performance on string stability.
In this article, we will discuss the string stability of CACC and evaluate its performance under varying packet loss ratios, beacon sending frequencies, and time headway settings in simulation experiments.
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