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

<div>Relationship between time delay and MSD. <i>X</i>-axis is the communication time delay and <i>Y</i>-axis is the MSD. The red, black, and blue lines represent the acceleration, cruising, and deceleration condition.</div>

Journal of Advanced Transportation

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Figure 9

Figure 9: Modeling and Analysis on Minimum Safe Distance for Platooning Vehicles Based on Field Test of Communication Delay 