String Stability of Vehicle Platoon with Packet Loss in NR-V2X

The vehicle platoon refers to the dynamic formation of a group of vehicles to drive with a certain spacing between vehicles, which is an important enhanced application scenario of cellular vehicle-to-everything (C-V2X). Through the C-V2X technology, the real-time interaction of vehicle motion status information and driving strategy of the vehicle platoon can be realized. In addition, benefit from vehicle-to-vehicle (V2V) communication, vehicle platoon can reduce the headway and expand the road capacity. However, in the process of vehicle-to-everything communication, packet loss is inevitable, which affect the stable operation of vehicle platoon and make it a challenge to the design of efficient vehicle platoon strategy. In response to the above challenge, this paper proposes an analytical framework that investigates the influence of the packet loss in NR-V2X mode 2 on the string stability of the vehicle platoon. Firstly, the packet loss in NR-V2X mode 2 is analyzed, and an analytical model is presented to depict the relationship between the packet delivery probability and the intra-platoon spacing with the aid of stochastic geometry. Then, the influence of packet loss in NR-V2X mode 2 on the string stability of the vehicle platoon is depicted, and the time headway boundary value under the condition of ensuring the string stability is deduced when the number of connected predecessors varies. Theoretical analysis and simulation verification of the proposed model are carried out. Design insights are given for efficient platoon strategy by increasing the number of connected predecessors and improving packet delivery probability to achieve short time headway and thus high road capacity.