Table 1: Safety applications and their requirements.

ApplicationTransmission modeAllowable latency (s)Maximum range (m)

Cooperative forward collision warningPeriodic100150
Lane change warningPeriodic100150
Blind spot warningPeriodic100150
Highway merge assistancePeriodic100250
Visibility enhancementPeriodic100300
Cooperative collision warningPeriodic100150
Precrash sensingEvent-driven2050