In vehicular ad hoc networks (VANETs), some distinct characteristics, such as high node mobility, introduce new\r\nnon-trivial challenges to quality-of-service (QoS) provisioning. Although some excellent works have been done on\r\nQoS issues in VANETs, security issues are largely ignored in these works. However, it is know that security always\r\ncomes at a price in terms of QoS performance degradation. In this article, we consider security and QoS issues jointly\r\nfor VANETs with cooperative communications. We take an integrated approach of optimizing both security and QoS\r\nparameters, and study the tradeoffs between them in VANETs. Specifically, we use recent advances in cooperative\r\ncommunication to enhance the QoS performance of VANETs. In addition, we present a prevention-based security\r\ntechnique that provides both hop-by-hop and end-to-end authentication and integrity protection. We derive the\r\nclosed-form effective secure throughput considering both security and QoS provisioning in VANETs with cooperative\r\ncommunications. The system is formulated as a partially observable Markov decision process. Simulation results are\r\npresented to show that security schemes have significant impacts on the throughput QoS of VANETs, and our\r\nproposed scheme can substantially improve the effective secure throughput of VANETs with cooperative
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