An extended optimal velocity (OV) difference model is proposed in a cooperative driving system by considering multiple OV differences. The stability condition of the proposed model is obtained by applying the linear stability theory. The results show that the increase in number of cars that precede and their OV differences lead to the more stable traffic flow. The Burgers, Korteweg–de Vries (KdV) and modified Korteweg–de Vries (mKdV) equations are derived to describe the density waves in the stable, metastable and unstable regions, respectively. To verify these theoretical results, the numerical simulation is carried out. The theoretical and numerical results show that the stabilization of traffic flow is enhanced by considering multiple OV differences. The traffic jams can be suppressed by taking more information of cars ahead.
Combining Semi-autonomous Navigation with Manned Behaviour in a Cooperative Driving System for Mobile Robotic Telepresence
