Symbol	Description
N	number of vehicles in platoon
t	time
k	time sample
$\mathsf{\Delta }t$	discrete system model time step ($t=k\mathsf{\Delta }t$)
$\mathbf{A}$	state transition matrix
$\mathbf{s}\left(k\right)$	system state vector at time instant $k\mathsf{\Delta }t$
$\mathbf{u}\left(k\right)$	controller actions vector at time instant $k\mathsf{\Delta }t$
$\mathbf{z}\left(k\right)$	disturbances vector at time instant $k\mathsf{\Delta }t$
$x_i\left(k\right)$	longitudinal position of vehicle i at time instant $k\mathsf{\Delta }t$
$v_i\left(k\right)$	velocity of vehicle i at time instant $k\mathsf{\Delta }t$
$a_i\left(k\right)$	acceleration of vehicle i at time instant $k\mathsf{\Delta }t$
${\widehat{a}}_i\left(k\right)$	desired (controller-calculated) acceleration of vehicle i at time instant $k\mathsf{\Delta }t$
$a_{max}$	maximum acceleration of vehicles (upper bound)
$a_{min}$	minimum acceleration of vehicles (lower bound)
${\alpha }_l$	autonomous controller coefficient ($l\in \{1,2,3,4,5\}$)
$d_d$	desired inter-vehicle distance in platoon (distance gap)
$\tau$	initial latency of the first transmitted message
$\mathsf{\Delta }{t}_{Tx}$	time interval between subsequent transmissions of messages by a platoon vehicle
$q_i^{\left(s\right)}\left(k\right)$	transmission indicator of vehicle i at time instant $k\mathsf{\Delta }t$
$d_{Th}$	emergency braking activation distance threshold
$ϵ$	maximum acceptable fraction of time with emergency braking activated
$e_i\left(t\right)$	distance error between vehicles $i-1$ and i at time t
T	observation interval for emergency braking activation analysis
$I(.)$	indicator function (equals 1 if condition is true, and 0 otherwise)
$\mathsf{\Delta }{v}_{i-1,i}\left(k\right)$	velocity difference between vehicles $i-1$ and i at time instant $k\mathsf{\Delta }t$
${\theta }_{m,n}^{\left(e\right)}\left(k\right)$	recursive coefficient related to the distance error at time instant $k\mathsf{\Delta }t$
${\theta }_{m,n}^{\left(v\right)}\left(k\right)$	recursive coefficient related to velocity difference at time instant $k\mathsf{\Delta }t$
${\theta }_{m,n}^{\left(a\right)}\left(k\right)$	recursive coefficient related to the follower’s acceleration at time instant $k\mathsf{\Delta }t$
$\mathsf{\Delta }{t}_{Tx}^{sel}$	time interval between subsequent transmissions of messages, selected in adaptation using the heuristic approach
$\tau$	initial latency of the first transmitted message selected in adaptation using the heuristic approach
$T_d$	set of possible intervals between subsequent transmissions of a message in the heuristic approach
$T_{tau}$	set of possible initial latencies of the first transmitted message in the heuristic approach
$t_{Th}$	prediction time span with the heuristic approach
$f(.)$	controller function used with the heuristic approach
$x_i^{*}\left(k\right)$	predicted longitudinal position of vehicle i at time instant $k\mathsf{\Delta }t$ with the heuristic approach
$v_i^{*}\left(k\right)$	predicted velocity of vehicle i at time instant $k\mathsf{\Delta }t$ with the heuristic approach
$a_i^{*}\left(k\right)$	predicted acceleration of vehicle i at time instant $k\mathsf{\Delta }t$ with the heuristic approach
r	memory depth (time span) when using the heuristic approach with hysteresis
$z\left(t\right)$	leader acceleration disturbance process (continuous time representation of $z_3\left(k\right)$)
$z_{min}$	minimum acceleration change
$z_{max}$	maximum acceleration change