Analysis on the Effect of Communication Delay on String Stability of Automated Vehicles
To analyze the effect of communication delay on the string stability of automated vehicles,the following behavior of automated vehicles was modeled based on the definition of communication de-lay.Parameters of the following model were calibrated using genetic algorithm with trajectory data of automated vehicles.Numerical simulation experiments were carried out to analyze the string stability under two conditions:communication delay changes alone and communication delay changes jointly with other model parameters.The results show that within the range of design parameters,when the com-munication delay increases from 0 s to 0.5 s alone,the strict string stability judgment value of the last car increases from 1.058 to 1.167,which does not meet the strict string stability requirement.When the communication delay changes jointly with other model parameters,the range of parameters that meet the semi-strict string stability gradually shrinks when the communication delay increases from 0 s to 0.5 s,among which,the range of the expected speed decreases from 66.8%to 25.9%,and the range of the fixed time interval decreases from 85.6%to 61.7%.
communication delayautomated drivingstring stabilitygenetic algorithmnumerical simulation
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