Schmidt, Klaus WernerCankaya, ErkamBingol, Hilal2026-04-032026-04-0320161300-70092147-5881https://hdl.handle.net/20.500.12416/16056https://doi.org/10.5505/pajes.2016.23473Cooperative adaptive cruise control (CACC) enables safe vehicle following in dense traffic based on distance measurements and communicated data via vehicle-to-vehicle communication. Existing CACC designs achieve the essential property of string stability but are limited to linear vehicle models. In this paper, we show that string stability is preserved when using a nonlinear vehicle model if the input signal of the leader vehicle does not saturate.trinfo:eu-repo/semantics/openAccessIntelligent Transportation SystemsString StabilityCooperative Adaptive Cruise ControlArticle10.5505/pajes.2016.23473