Research on the Influence of Communication Delay and Packet Loss on the Platooning of Connected Vehicles
DOI:
https://doi.org/10.13052/jicts2245-800X.1321Keywords:
Communication delay, Packet Loss, Platooning, Vehicle controlAbstract
The control of networked vehicle platoons is a core challenge in automated highway systems, where communication delay and packet loss significantly degrade cooperative driving performance. This study constructs a leader–predecessor–following (LPF) model with linearized state feedback, innovatively describing communication delays via Bernoulli sequence distribution and quantifying packet loss using the real-time transport protocol (RTP) rate formula. MATLAB simulations under mixed urban arterial (60%) and highway (40%) scenarios reveal that platoon spacing errors increase from 0.1 m to 0.78 m as delays rise from 0 ms to 8 ms, with speed errors reaching 0.6 m/s and acceleration fluctuations widening to [−4.8, 2.2] m/s2 at a 30% packet loss rate. Notably, the proposed Bernoulli-based delay model improves scenario fitting accuracy by 23% compared to static models, while an RTP-aware adaptive controller reduces acceleration fluctuations by 41% under high loss conditions. These findings establish an 8 ms delay + 30% packet loss critical threshold for platoon instability, providing a theoretical foundation for robust V2X control strategies in intelligent transportation systems.
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