Adaptive Cruise Control (ACC) enables automatic following
of a preceding vehicle, based on measurements of the
inter-vehicle distance xr,i and the relative velocity ˙xr,i
. Commonly,
a radar is used for these measurements, see Figure
1. Decreasing the inter-vehicle distance to a small value of
only several meters is expected to yield an increase in traf-
fic throughput [1]. To enable this for a string of vehicles,
a platoon, inter-vehicle communication is required besides
the radar data [2]. This is called Cooperative ACC (CACC).