The future of autonomous transportation systems depends on energy sustainability and secure information exchange from low-power vehicular sensors, hence the increased interest in vehicular sensor charging using simultaneous wireless information and power transfer (SWIPT). This study investigates the physical layer security of a SWIPT-based radio frequency energy harvesting cooperative vehicular relaying network subjected to cascade Nakagami-m and double Nakagami-m (DN) fading channels. In the considered system model, a stationary source communicates with a mobile destination through a power-splitting-based decode-and-forward relay in the presence of a mobile passive eavesdropper. Based on the Gamma-distributed first term of the Laguerre series, new statistical probability density function (PDF) and cumulative distribution function (CDF) expressions for the DN are derived to accurately model the complex cascaded fading scenario. The secrecy performance metrics analyzed are the secrecy outage probability (SOP), the probability of non-zero secrecy capacity (PNZSC), and the intercept probability (IP). In addition, the asymptotic SOP (ASOP) is investigated in the high signal-to-noise ratio (SNR) to enhance the comprehension of the secrecy performance. Based on the derived ASOP, the secrecy diversity order (SDO) of the proposed system is determined and examined. Particularly, we present analytical closed-form expressions for the secrecy performance metrics and provide a detailed understanding of the impact of the system parameters under the cascade fading scenario. Then, a power splitting (PS) optimization problem is formulated to minimize the SOP. The results demonstrate a reduction in the SOP with the proposed PS scheme compared to the equal PS scheme. The obtained analytical findings are validated using Monte Carlo simulations.