A general car-following model is established and its linear stability is analyzed. This model represents car-following models with or without vehicle-to-vehicle (V2V) communication and takes vehicle controller delay into consideration. Single vehicle stability and platoon stability criterions of the model are derived. Longitudinal vehicle dynamics model is built and full velocity difference model (FVDM) is used for simulation. Stability of FVDM is in accordance with the results given by theoretical criterions and platoon stability is guaranteed only when there is V2V communication.

car-following, linear stability, vehicle platoon, V2V communication