Including Follower Dynamics in Beaconing for Platooning Safety

In this paper, we propose procedures to address platoon follower dynamics within adaptive beaconing. We implement them in a known adaptive beaconing scheme which is Jerk Beaconing (JB) to improve its safety. We evaluate our proposed approach in terms of safety, string stability and the channel busy ratio (CBR) overhead. The results reveal that our proposal significantly enhances safety without imposing substantial CBR overhead and maintains the string stability of the PATH CACC controller under normal conditions.