Modeling and Analyzing V2x Communication Limitations Impacts on Connected and Automated Vehicle Platoons

Platooning of connected and automated vehicles (CAVs) via V2X (Vehicle-to-Everything) protocol provides a great potential to enhance safety, increase traffic capacity, and reduce fuel consumption. However, the impacts on information flow under range or distance communication limitations among CAVs can significantly influence the dynamics of a platoon. So far, owing to the lack of analytical models integrating platoon communication limitations into CAV dynamics, we have confined knowledge on CAV platoon performance under V2X communication limitations. To fill the crucial gap, this article focuses on the impacts of V2X communication limitations via three typical information flow topologies on the stability of homogeneous vehicular platoons traveling in a rigid formation. First, this study introduces an analytical model, labeled platoon intelligent driver model (PIDM), which integrates the dynamic communication topological structure to permit the analysis of impacts of V2X communication limitations on CAV dynamics. Then, stability analysis is conducted to better understand the spreading mechanism of traffic disturbance under V2X communication limitations. Finally, based on the proposed PIDM, numerical simulations are leveraged to illustrate CAV platoon safety under V2X communication limitations. This study contributes to the essential understanding  of CAV platoon dynamics and size under V2X communication limitations and lays a foundation for platoon management of CAV systems.