I. Introduction
Over the past decades, in many countries, highway usage has increased vastly. To ensure that this does not impair safety, traffic management systems (TMSs) are used. Two categories of TMS s are defined in [1]: infrastructure-based and infrastructure-free. Infrastructure-based TMSs make use of infrastructure, such as traffic lights and roadside units (RSU s) to monitor and control traffic. Infrastructure-free TMSs use only vehicle-to-vehicle communication.