On Constant Distance Spacing Policies for Cooperative Adaptive Cruise Control

Abstract: Cooperative Adaptive Cruise Control (CACC) systems are considered as key potential enablers to improve driving safety and traffic efficiency. They allow for automated vehicle following using wireless communication in addition to onboard sensors. To achieve string stability in CACC platoons, constant time headway (CTH) spacing policies have prevailed in research; namely, vehicle interspacing grows with the speed. While constant distance headway (CDH) spacing policies provide superior potential to increase traffic capacity than CTH, a major drawback is a smaller safety margin at high velocities and string stability cannot be achieved using a one-vehicle look-ahead communication. The hypothesis of this work is to apply CDH only in few driving situations, when traffic throughput is of highest importance and safety requirements can be met due to comparably low velocities. As the most relevant situations where CDH could be applied, we identify starting platoons at signalized intersections. In this paper, we illustrate this idea. Specifically, we compare CTH with CDH regarding its potential to increase the capacity of traffic lights. Starting with the elementary situation of single traffic lights we expand our scope to whole traffic networks including several thousand vehicles in simulation. Using real world data to calibrate and validate vehicle dynamics simulation and traffic simulation, the study discusses the most relevant working parameters of CDH, CTH, and the traffic system in which both are applied.