A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

<div>Simulation results of the platoon by using the two-stage CACC strategy.</div>

Journal of Advanced Transportation

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Figure 6

Figure 6: A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay 

Figure 6 | A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay 