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However, in CACC, the butterfly effect is encountered while exhibiting asynchronous brakes that easily lead to backward shock-waves and are difficult to remove. Several critical issues should be addressed in CACC, including (i) difficulties with adaptive steering of the inter-vehicle distances among neighbor vehicles and the vehicle speed, (ii) the butterfly effect, (iii) unstable vehicle traffic flow, etc. To address the above issues in CACC, this paper proposes the mobile edge computing-based vehicular cloud of the cooperative adaptive driving (CAD) approach to avoid shock-waves efficiently in platoon driving. Numerical results demonstrate that the CAD approach outperforms the compared techniques in the number of shock-waves, average vehicle velocity, average travel time and time to collision (TTC). Additionally, the adaptive platoon length is determined according to the traffic information gathered from the global and local clouds.<\/jats:p>","DOI":"10.2478\/amcs-2019-0016","type":"journal-article","created":{"date-parts":[[2019,7,9]],"date-time":"2019-07-09T17:30:42Z","timestamp":1562693442000},"page":"213-225","source":"Crossref","is-referenced-by-count":5,"title":["Cooperative Adaptive Driving for Platooning Autonomous Self Driving Based on Edge Computing"],"prefix":"10.61822","volume":"29","author":[{"given":"Ben-Jye","family":"Chang","sequence":"first","affiliation":[{"name":"Department of Computer Science and Information Engineering , National Yunlin University of Science and Technology , 123 University Rd., Sec. 3, Douliou , Yunlin 64002 , Taiwan, Republic of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ren-Hung","family":"Hwang","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Information Engineering , National Chung Cheng University , 168, University Rd., Sec. 1, Minhsiung, Chiayi 62102 , Taiwan, Republic of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yueh-Lin","family":"Tsai","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Information Engineering , National Yunlin University of Science and Technology , 123 University Rd., Sec. 3, Douliou , Yunlin 64002 , Taiwan, Republic of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo-Han","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Information Engineering , National Yunlin University of Science and Technology , 123 University Rd., Sec. 3, Douliou , Yunlin 64002 , Taiwan, Republic of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ying-Hsin","family":"Liang","sequence":"additional","affiliation":[{"name":"Department of Multimedia Animation and Application , Nan Kai University of Technology , 568, Zhongzheng Rd., Caotun , Nantou, 542, Taiwan, Republic of China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"37438","published-online":{"date-parts":[[2019,7,4]]},"reference":[{"key":"2023050302352575206_j_amcs-2019-0016_ref_001_w2aab3b7ab1b6b1ab1ab1Aa","unstructured":"3GPP (2019). 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