Cooperative adaptive cruise control (cacc) system for control of connected and autonomous vehicle (cav) platoons

A controller of a first vehicle, comprising:

• a memory configured to store computer-readable instructions;
• and
• a Cooperative Adaptive Cruise Control (CACC) controller configured to execute the computer-readable instructions stored in the memory to:
• generate a safety driving model (SDM) for the first vehicle to perform control functions using first vehicle SDM parameters comprising at least a defined safe longitudinal distance between the first vehicle and a second vehicle in a vehicle platoon of the first vehicle,
• determine a dynamic kinematics model of movement of the first vehicle,
• determine an acceleration value of the first vehicle using the dynamic kinematics model,
• determine the safe longitudinal distance using the acceleration value, and
• cause the first vehicle to use the determined safe longitudinal distance as an inter-vehicle distance between the first vehicle and the second vehicle in the vehicle platoon.

A first vehicle, comprising:

• a transceiver configured to periodically receive platoon messages from a second vehicle in a vehicle platoon of the first vehicle;
• and
• a controller configured to:
• generate a safety driving model (SDM) for the first vehicle to perform control functions using first vehicle SDM parameters comprising at least a defined safe longitudinal distance between the first vehicle and the second vehicle,
• determine the safe longitudinal distance using a response time that incorporates a frequency of the platoon messages periodically received from the second vehicle, and
• cause the first vehicle to use the determined safe longitudinal distance as an inter-vehicle distance between the first vehicle and the second vehicle in the vehicle platoon.

A first vehicle, comprising:

• a data interface configured to receive vehicle data indicative of a status of the first vehicle;
• and
• a controller configured to:
• generate a safety driving model (SDM) for the first vehicle to perform control functions using first vehicle SDM parameters comprising at least a defined safe longitudinal distance between the first vehicle and a second vehicle in a vehicle platoon of the first vehicle,
• determine a dynamic kinematics model of movement of the first vehicle using the vehicle data,
• determine an acceleration value of the first vehicle using the dynamic kinematics model,
• determine the safe longitudinal distance using the acceleration value, and
• cause the first vehicle to use the determined safe longitudinal distance as an inter-vehicle distance between the first vehicle and the second vehicle in the vehicle platoon.