Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology

Table 1

Values of vehicle parameters.

Parameters	Vehicle 1		Vehicle 2		Vehicle 3		Vehicle 4
GPS antenna to front bumper	3 m		3 m		3 m		6 m
GPS antenna to rear bumper	2 m		2 m		2 m		4 m
Braking factor	1		1		1.1		1.6
Initial velocity	30 m/s		33 m/s		36 m/s		39 m/s
Desired velocity	30 m/s		30 m/s		30 m/s		30 m/s
Initial time gap		0.91 s		1.11 s		1.67 s
Initial weighted intervehicle distance		30 m		40 m		65 m
Desired time gap		0.43 s		0.48 s		0.69 s
Desired time headway		0.6 s		0.64 s		0.86 s
Desired weighted intervehicle distance		13 m		14.3 m		20.8 m
Desired unweighted intervehicle distance		13 m		13 m		13 m