Publication

This letter provides a safety analysis for emergency braking scenarios involving consecutive vehicles. The vehicles use adaptive cruise control (ACC) with a constant-distance policy together with additional vehicle-to-vehicle (V2V) communication for emergency braking. We provide explicit formulas describing how the minimum safe inter-vehicle distance (IVD), for avoiding rear-end collision, can be shortened with the use of decentralized environmental notification messages (DENMs). More precisely, those formulas describe the dependency of such IVDs on V2V communication delay. We further show how these results can be used to compute probabilities of safe braking in the presence of packet losses.