A Review of Cooperative Adaptive Cruise Control for Road Vehicles with Network Uncertainty

Cooperative adaptive cruise control (CACC) allows connected vehicles in a platoon to maintain smaller headway, which has the potential to enhance driving safety and traffic efficiency. However, various network uncertainty in internet of vehicles, such as communication delay, network attacks, packet loss, can seriously affect the performance of CACC. In this paper, we focus on the research progress of CACC for road vehicles with network uncertainty. Basic issues including information flow topology, inter-vehicle spacing policy, and string stability of platoon are systematically discussed. This paper comprehensively reviews three important aspects of CACC for road vehicles with network uncertainty: communication delay, network attacks and packet loss. Finally, the future research direction of CACC is summarized and prospected.