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Closed-Form Expressions of Performance Metrics of V2X Safety Communication in Urban Scenarios

We investigate the analytical expressions of typical performance metrics, namely message reception probability, message reception interval, and information dissemination rate, for vehicle-to-everything (V2X) safety communication in urban scenarios. Each of the performance metrics can be expressed in a simple closed form under some moderate assumptions such as vehicles being positioned according to a Poisson process in a two-dimensional plane. Based on the obtained expressions, we analyze the dependence of these performance metrics on the message transmission interval, which is a typical parameter of congestion control of V2X communication. The results show that the optimal message transmission interval that minimizes the average message reception interval can be derived in a simple closed form. The information dissemination rate is insensitive to the message transmission interval.