An asynchronous medium access control (MAC) duty-cycled protocols have higher energy efficiency and lower packet latency than synchronized ones due to reduced idle listening. Moreover, they provide efficient utilization of energy supplied to mobile sensors. They are considered very important in MAC protocols due to the adverse effects of hidden terminals which causes energy consumption in sensor networks. Therefore, in this paper, the impact of hidden terminals on the performance of an asynchronous duty-cycled MAC protocol X-MAC for vehicle-base sensor is investigated via analysis and simulations. We propose a Markov model to analyze the quality-of-service (QoS) parameters in terms of energy consumption, delay, and throughput. Our analytical model provides QoS parameter values that closely match the simulation results under various network conditions. Our model is more computationally efficient and provides accurate results quickly compared with simulations. More importantly, our model enables the designers to obtain a better understanding of the effects of different numbers of mobile sensor nodes and data arrival rates on the performance of an asynchronous MAC duty-cycled protocol.