I. Introduction
With the explosive growth of vehicles on road, safety has become a major concern for future intelligent transportation systems (ITS) [1]. Statistical data show that the number of crashes in the United States is nearly 6 million each year [2]. Vehicle-to-Everything, abbreviated as V2X, is a promising means to cut the road toll [3]. Through V2X, all the entities on the road (e.g., vehicles, road side units and pedestrians) are connected, hence, they can exchange safety messages and cooperate to prevent road accidents or cut down fatality and injury rates when they do occur.