*2.2. Vehicle Dynamics Model*

The proposed BEV Eco-CACC-I system uses a vehicle dynamics model to compute vehicle acceleration behavior. Here, vehicle acceleration is based on the vehicle dynamics model formulated in [23,24], where acceleration level is related to throttle level and vehicle velocity. The vehicle dynamics model is summarized as

$$u(t+t) = u(t) + \frac{F(t) - R(t)}{m}t \tag{5}$$

$$F = \min\left(3600f\_{\mathcal{P}}\beta\eta\_D \frac{P\_{\max}}{u}, m\_{\text{ta}}\text{g}\mu\right) \tag{6}$$

$$R(t) = \frac{\rho}{25.92} \mathbf{C}\_d \mathbf{C}\_h \mathbf{A}\_f u(t)^2 + mg \frac{\mathbf{c}\_{r0}}{1000} (c\_{r1} u(t) + c\_{r2}) + mg \mathbf{R}\_g \tag{7}$$

where *F* and *R* are the tractive and resistance forces on the vehicle (N); η*<sup>D</sup>* (unitless) denotes the drivetrain losses; β (unitless) represents the gear reduction factor (light-duty vehicle uses the value of 1.0); *fp* (unitless) denotes the throttle input from the driver; *mta* (kg) represents the vehicle mass on the tractive axle; *Pmax* is the maximum engine power (kW); μ (unitless) denotes the adhesion coefficient between the vehicle tire and road surface; ρ is the sea-level air density (kg/m3) at 15 ◦C temperature; *Af* denotes the frontal area of the vehicle (m2); *Cd* (unitless) represents the drag coefficient; *Ch* (unitless) is the correction factor for altitude; *cr*0, *cr*1, and *cr*<sup>2</sup> are rolling resistance constant values (unitless); *m* (kg) represents the mass of the vehicle; and *G* (unitless) denotes the road grade.
