I. Introduction
Vehicular ad hoc networks (VANETs) are distributed, self-organized networks built up by many high-speed vehicles. All vehicles in the network would install onboard units (OBU), which would integrate the vehicles' wireless communications, micro-sensors, embedded systems, and Global Positioning System (GPS) [1]. These smart vehicles could then communicate with each other as well as with roadside units (RSU), such as traffic lights or traffic signs, which would then improve the driving experience and make driving safer [2]– [4]. For example, vehicles could exchange messages concerning real-time traffic conditions so that drivers would be more aware of their driving environment and take early action in response to an unusual situation [5].