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

Table 1

Minimum spacing in CAV platoon under different vehicle speeds.

Velocity (km/h)	Minimum spacing (m)
5	2.57/1.82/1.43
10	3.22/2.24/1.61
15	3.87/2.57/1.80
20	4.52/3.09/1.99
25	5.16/3.52/2.17
30	5.81/3.94/2.35
35	6.46/4.36/2.54
40	7.11/4.78/2.72
45	7.76/5.21/2.91
50	8.41/5.63/3.10
55	9.06/6.06/3.28
60	9.70/6.48/3.47
65	10.35/6.91/3.65
70	10.99/7.33/3.84
75	11.65/7.75/4.02
80	12.30/8.18/4.21
85	12.94/8.60/4.39
90	13.59/9.03/4.58
95	14.24/9.45/4.76
100	14.89/9.87/4.95
105	15.54/10.30/5.13
110	16.19/10.72/5.32
115	16.84/11.15/5.50
120	17.49/11.57/5.69