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In the past few years, vehicular ad hoc networking (VANET) has attracted significant attention and many fundamental issues have been investigated, such as network connectivity, medium access control (MAC) mechanism, routing protocol, and quality of service (QoS). Nevertheless, most related work has been based on simplified assumptions on the underlying vehicle traffic dynamics, which has a tight interaction with VANET in practice. In this paper, we try to investigate VANET performance from the vehicular cyber-physical system (VCPS) perspective. Specifically, we consider VANET connectivity of platoon-based VCPSs where all vehicles drive in platoon-based patterns, which facilitate better traffic performance as well as information services. We first propose a novel architecture for platoon-based VCPSs, then we derive the vehicle distribution under platoon-based driving patterns on a highway. Based on the …