Abstract:This paper presents the overall framework for high-performance vehicle streams that integrates the transportation and the communication layered architectures together. It shows the process in establishing an infrastructure for high-performance vehicles and the theoretical development and deployment of cooperative adaptive cruise control (CACC) for heterogeneous vehicles that is integrated with lateral control. The system is designed to be fault tolerant and uses the concept of subplatoons. Our framework is based on integrating a transportation layered architecture with the Wireless Access in Vehicular Environment (WAVE) communication protocol.