I. Introduction
Over the last two decades, the total length of freeways in China has rapidly increased. At present, it is over 60,000 kilometers. Although traditional passive safety systems such as seatbelts and air-bags have been the norm equipment in the vehicle, the number of traffic fatalities on the freeway still rises every year [1]. In particular, chain collision accidents occurred on a freeway will result in more losses of lives and properties. In order to avoid these collisions, the proactive safety systems have been introduced to warn the driver if a vehicle is in a blind spot or if the vehicle inadvertently leaves its lane [2]. The next step in advanced proactive safety is to allow vehicles to share information about the traffic state directly between each other and with infrastructure using wireless communications. The kind of wireless communications is regarded as vehicular ad hoc network (VANET), which can provide communications among nearby vehicles, and between vehicles and nearby fixed roadside equipment.