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Platooning is a critical technology to realize autonomous driving. Each vehicle in platoons adopts the IEEE 802.11p standard to exchange information through communications to maintain the string stability of platoons. However, one vehicle in platoons inevitably suffers from a disturbance resulting from the leader vehicle acceleration/deceleration, wind gust and uncertainties in a platoon control system, i.e., aerodynamics drag and rolling resistance moment etc. Disturbances acting on one vehicle may inevitably affect the following vehicles and cause that the spacing error is propagated or even amplified downstream along the platoon, i.e., platoon string instability. In this case, the connectivity among vehicles is dynamic, resulting in the performance of 802.11p in terms of packet delay and packet delivery ratio being time-varying. The effect of the string instability would be further deteriorated once the time-varying performance of 802.11p cannot satisfy the basic communication requirement. Unlike the existing works which only analyze the steady performance of 802.11p in vehicular networks, we will focus on the impact of disturbance and construct models to analyze the time-dependent performance of 802.11p-based platooning communications. The effectiveness of the models is validated through simulation results. Moreover, the time-dependent performance of 802.11p is analyzed through numerical results and it is validated that 802.11p is able to satisfy the communication requirement under disturbance.

Time-Dependent Performance Analysis of the 802.11p-Based Platooning Communications Under Disturbance