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

Figure 12

Vehicle spacing in platoon after braking with 305 ms communication time delay when traveling at a constant speed: 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)