Road capacity, traffic safety, and energy efficiency can be extremely improved by forming\nplatoons with a small intra-vehicle spacing. Automated controllers obtain vehicle speed, acceleration,\nand position through vehicular ad hoc networks (VANETs), which allows the performance of platoon\ncommunication to make a significant impact on the stability of the platoon. To the best of our\nknowledge, there is not much research relating to packet delay and packet dropping rate of platoon\ncommunication based on the IEEE 802.11p broadcasting. In this paper, we introduce platoon structure\nmodel, vehicle control model, and communication model for a single platoon scenario. By utilizing\nMarkov process and M/G/1/K queuing theory, we put forward an analytical model to assess\nthe property of intra-vehicle communication. The analytical model is validated by simulations\nand the influence of communication parameters on intra-vehicle communication performance are\ndiscussed. In addition, the experimental results demonstrate that the IEEE 802.11p-based intra-vehicle\ncommunication guarantee the stability of platoon.
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