Evaluating the Safety Benefits of Cooperative Adaptive Cruise Control with Multiple Predecessor Information in Emergency Braking Scenarios for Connected and Autonomous Vehicle Platoons

Cooperative adaptive cruise control with information from multiple predecessor vehicles (CACC+) can provide improved safety metrics, including lower probability of collision, expected number of collisions, and severity of collisions, compared to cooperative adaptive cruise control with information from only the immediate predecessor (CACC), especially in emergency braking scenarios for connected and autonomous vehicle platoons.