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This paper addresses the problem of assessing the effect of communication delays on the control performance of a platoon of two vehicles. The authors consider Bluetooth communication and develop a simple stochastic model for the Bluetooth delay distribution. It is shown that due to the long tails of this distribution, the computation time of a Monte Carlo approach would be prohibitive when assessing the effect of long communication delays on the control performance. Hence, they propose a novel and fast simulation approach that is computationally more efficient than pure Monte Carlo simulations. Simulations on a platoon of two vehicles illustrate the effectiveness of the approach for assessing average and worst case performance or for approximating the probability density function of the control performance.
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