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Cooperative driving systems, such as platooning, rely on communication andinformation exchange to create situational awareness for each agent. Design andperformance of control components are therefore tightly coupled withcommunication component performance. The information flow between vehicles cansignificantly affect the dynamics of a platoon. Therefore, both the performanceand the stability of a platoon depend not only on the vehicle's controller butalso on the information flow Topology (IFT). The IFT can cause limitations forcertain platoon properties, i.e., stability and scalability. CellularVehicle-To-Everything (C-V2X) has emerged as one of the main communicationtechnologies to support connected and automated vehicle applications. As aresult of packet loss, wireless channels create random link interruption andchanges in network topologies. In this paper, we model the communication linksbetween vehicles with a first-order Markov model to capture the prevalent timecorrelations for each link. These models enable performance evaluation throughbetter approximation of communication links during system design stages. Ourapproach is to use data from experiments to model the Inter-Packet Gap (IPG)using Markov chains and derive transition probability matrices for consecutiveIPG states. Training data is collected from high fidelity simulations usingmodels derived based on empirical data for a variety of different vehicledensities and communication rates. Utilizing the IPG models, we analyze themean-square stability of a platoon of vehicles with the standard consensusprotocol tuned for ideal communication and compare the degradation inperformance for different scenarios.

Finite State Markov Modeling of C-V2X Erasure Links For Performance and Stability Analysis of Platooning Applications