I. Introduction
Connected and Automated Vehicle (CAV) technology has been rapidly emerging as a key component of Intelligent Transportation Systems (ITS) and a major pillar of the Smart City Challenge in the U.S. [1]. Thus far, a large number of relevant applications have been developed by researchers and engineers [2], with the support from both public and private sectors. In particular, the Connected Vehicle Reference Implementation Architecture (CVRIA) program [3] has laid out the foundation and provides detailed description of many CAV applications.