Modeling and Analysis on Minimum Safe Distance for Platooning Vehicles Based on Field Test of Communication Delay

Figure 11

Vehicle spacing in platoon after emergency braking with 305 ms communication time delay during accelerating: spacing between (a) vehicle L and vehicle 1, (b) vehicle 1 and vehicle 2, (c) vehicle 2 and vehicle 3, (d) vehicle 3 and vehicle 4, and (e) vehicle 4 and vehicle 5.

(a)

(b)

(c)

(d)

(e)