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

Table 2

Values of vehicle parameters.

Parameters	Vehicle 1	Vehicle 2
GPS antenna to front bumper	3 m	3 m
GPS antenna to rear bumper	2 m	2 m
Braking factor	1	1
Initial velocity	30 m/s	33 m/s
Desired velocity	30 m/s	30 m/s
Initial weighted intervehicle distance	30 m
Desired weighted intervehicle distance	13 m