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IntroductionOver the past few decades, the surge in travel demand for vehicular transportation has brought several challenges, including road congestion, accident risks, and energy consumption. The advancement of connected and automated vehicles (CAVs) is expected to effectively resolve the aforementioned challenges by promising better traffic flow stability (Guanetti et al., 2018, Cao et al., 2022, Zheng et al., 2020). One typical technology is adaptive cruise control (ACC), which enables the ego CAV to maintain a desired following distance with respect to the preceding vehicle by adaptively adjusting its own velocity (Makridis et al., 2019, Xiao and Gao, 2010). Early studies have conducted large-scale numerical simulations (Yao et al., 2019, Qin and Wang, 2023) and small-scale field experiments (Gunter et al., 2019, Milanés and Shladover, 2014) to assess the potential of ACC in mixed traffic flow, where CAVs and human-driven vehicles (HDVs) coexist. Most of these studies suggest that at a relatively high penetration rate, ACC could alleviate traffic congestion and enhance traffic flow stability. However, some recent works indicate that commercially-available ACC systems could negatively impact traffic flow stability due to the conservative design and limited perception capabilities via onboard sensors (Gunter et al., 2020).Since most ACC systems utilize onboard radars for data acquisition, they usually consider a typical information flow topology (IFT) called Predecessor Following (PF), where the information of the ego vehicle and the vehicle immediately ahead is employed for controller design. Facilitated by vehicle-to-vehicle (V2V) communication technologies, cooperative adaptive cruise control (CACC), also known as vehicle platooning, extends the capabilities of traditional ACC by incorporating information from more vehicles and enabling multi-vehicle cooperation, thereby holding the potential for substantially improving string stability of traffic flow (Li et al., 2017, Gong and Du, 2018). Precisely, string stability is evaluated by whether the fluctuations of downstream vehicles are amplified as they propagate upstream in a series of vehicles (Feng et al., 2019). This notion captures the platoon’s capacity to mitigate undesired disturbances. Numerous investigations have shown that better string stability could be achieved by expanding the IFT (i.e., involving more vehicles) (Wang et al., 2019, Zheng et al., 2015a,

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