I. Introduction
VHICLE-TO-VEHICLE (V2V) communication can promote safety. Exchange of information among vehicles about vehicle dynamics and road conditions could increase driver and passenger comfort and safety. With information about road conditions and velocities of the vehicles around it, a driver is able to make better decisions with regards to vehicle control and trajectory. As an example, consider driving in a bad weather condition such as heavy fog. When vehicles communicate their real-time velocity values, a driver can avoid accidents by adjusting her velocity according to neighboring vehicle velocities.