Modeling and Analysis of Safety Messages Propagation in Platoon-Based Vehicular Cyber-Physical Systems

Safety messages propagation is the major task for Vehicular Cyber-Physical Systems in order to improve the safety of roads and passengers. However, reducing traffic and car accidents can only be achieved by disseminating safety messages in a timely manner with high reliability. Although mathematical modeling of the delay of safety messages is extremely beneficial, analyzing the safety messages propagation is considerably complex due to the high dynamics of vehicles. Moreover, most previous works assume vehicles drive independently and the interaction between vehicles is not taken into consideration. In this paper, we proposed an analytical model to describe the performance of safety messages propagation in the VCPSs under platoon-based driving pattern. Infrastructure-less and RSU-supported scenarios are evaluated independently. The analytical model also takes into account different transmission situations and various system parameters, such as communication range, traffic flow, and platoon size. The effectiveness of the analytical model is verified through simulation and the impacts of different parameters on the expected transmission delay are investigated. The results will help determine the system design parameters to satisfy the delay requirement for safety applications in VCPSs.