Ge, Xiaohua (Swinburne University of Technology), Pan, Dengfeng (Swinburne University of Technology), Ding, Derui (University of Shanghai for Science and Technology), Wu, Qing (Central Queensland University), Han, Qing-Long (Swinburne University of Technology), Zhang, Xian-Ming (Swinburne University of Technology)

String-Stable CACC of Connected Automated Vehicles with Heterogeneous Braking Capabilities

Scheduled for presentation during the Invited Session "S24a-Traffic Control and Connected Autonomous Vehicles: benefits for efficiency, safety and beyond" (TH-LM-T24), Thursday, November 20, 2025, 11:30−11:50, Coolangata 3

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

With the advancement of connected automated vehicle (CAV) technologies, cooperative adaptive cruise control (CACC) has emerged as a key enabler for enhancing the safety, efficiency, and stability of vehicle platoons. However, many existing CACC designs either overlook the influence of heterogeneous braking capabilities across vehicles or lack rigorous string stability analysis. This study develops a CACC approach that ensures both individual vehicle stability and string stability for CAV platoons with heterogeneous braking capabilities. Towards this aim, a novel speed-dependent gap reference is firstly proposed, explicitly accounting for the heterogeneity of service braking and emergency braking capabilities, enhancing transient safety and adaptability. Furthermore, string stability is systematically analyzed from both frequency- and time-domain perspectives, leading to the derivation of practical gain selection criteria for controller design. Finally, numerical simulations are carried out to validate the effectiveness of the proposed approach and demonstrate its superiority over the conventional CACC approach.