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Safe Predictor-Feedback CACC with V2X-Aware Adaptive Spacing for Heterogeneous Vehicle Platoons
Jaehyeon Shin1, Junhyeok An1, Sungjin Lee1
1Department of Smart Automotive, Soonchunhyang University, 22 Soonchunhyang-ro, Sinchang-myeon, Asan-si 31538, Republic of Korea.
Sensors (Basel, Switzerland)
|August 13, 2026
Summary
Safe PF-CACC enhances cooperative adaptive cruise control (CACC) for heterogeneous platoons by accounting for real-time delays and braking limits. This V2X-enabled system ensures safety and efficiency in diverse driving conditions.
Area of Science:
- Intelligent Transportation Systems
- Control Theory
- Automotive Engineering
Background:
- Vehicle-to-everything (V2X)-enabled Cooperative Adaptive Cruise Control (CACC) is crucial for traffic efficiency and safety.
- Heterogeneous vehicle platoons present challenges due to varying delays (actuation, computation, communication) and fixed-delay assumptions in conventional CACC.
- Failure to address these variations can compromise rear-end collision avoidance.
Purpose of the Study:
- To propose Safe PF-CACC, a novel predictor-feedback CACC framework for heterogeneous vehicle platoons.
- To integrate a V2X-aware safe inter-vehicle distance model with adaptive time-headway scheduling.
- To enhance safety and efficiency by considering communication latency, vehicle dynamics, and road friction.
Main Methods:
- Developed a Safe Inter-Vehicle Distance (Safe IV Distance) model incorporating communication latency, vehicle dynamic delays, and friction-dependent braking limits.
- Components include minimum margin (MM), response-lag loss (RLL), and braking-performance limit (BPL).
- Integrated Safe IV Distance into a predictor-feedback (PF) controller with adaptive time-headway scheduling and filtering for stability.
Main Results:
- Simulations in heterogeneous passenger-vehicle, emergency vehicle, and truck platooning scenarios demonstrated effectiveness.
- Safe PF-CACC reduced maximum jerk and mean spacing significantly (e.g., 20.6% and 49.4% in passenger-vehicle platoons).
- Achieved collision-free operation in emergency scenarios while improving spacing and reducing jerk.
Conclusions:
- The proposed Safe PF-CACC framework offers a practical, integrated control approach for CACC systems.
- Effectively maintains control stability and physical safety under time-varying communication delays and road friction uncertainties.
- Outperforms conservative methods in reducing spacing and improving dynamic performance across various platooning scenarios.