I. Introduction
Vehicular ad hoc networks (VANETs) are decentralized networks that are formed spontaneously when intelligent vehicles come in range to one another. These networks facilitate wireless vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) connectivity through dedicated short-range communications (DSRC). Equipped with on-board-units (OBUs), vehicles can exchange their state information (e.g. position) with neighboring vehicles, and nearby roadside units (RSUs) in a VANET, enabling intelligent applications to improve transportation safety and reduce traffic emissions [1].