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

Table 7

Velocity errors between each vehicle and the predecessor.

		car1	car2	car3	car4	car5	car6
CS-CACC	Root mean square	0.0030	0.0615	0.0193	0.0013	0.0036	0.0010
	Maximum	2.7779	6.8635	0.0192	0.3105	1.9083	0.9557
	Minimum	−0.0680	−0.3146	−4.3157	−1.1101	−0.1330	−0.1336
Two-stage CACC	Root mean square	0.0120	0.0557	0.0181	0.0016	0.0037	0.0013
	Maximum	0.6795	6.079	0.1552	0.3354	2.1864	1.3469
	Minimum	−0.2279	−0.4231	−3.7721	−1.1799	−0.3007	−0.2173
MPC	Root mean square	0.0094	0.0644	0.0382	0.0026	0.0058	0.0005
	Maximum	0.5925	6.0091	2.4304	0.7670	2.7704	0.7141
	Minimum	−0.1991	−2.3096	−4.9656	−1.1620	−0.7538	−0.0675