Safety Message Verification Using History-Based Relative-Time Zone Priority Scheme

Table 1

Safety applications and their requirements.

Application	Transmission mode	Allowable latency (s)	Maximum range (m)
Cooperative forward collision warning	Periodic	100	150
Lane change warning	Periodic	100	150
Blind spot warning	Periodic	100	150
Highway merge assistance	Periodic	100	250
Visibility enhancement	Periodic	100	300
Cooperative collision warning	Periodic	100	150
Precrash sensing	Event-driven	20	50