2X use cases [1]. Data Rate per Communication Use Case V2X Mode End-to-End Latency Reliability Vehicle (kbps) Range Cooperative awareness V2V/V21 100 ms to 1 second 90-95% Short-to-medium Cooperative sensing V2V/V2I 3 ms to 1 second 5-25,000 Short Cooperative maneuver V2V/V21 <3-100 ms 10-5000 Short-to-medium Vulnerable road user 100 ms to 1 second Short Traffic efficiency V2N/V2I > 1 second < 90% 10-2000 Tele-operated driving 5-20 ms > 99% > 25,000 these services enable more efficient driving experience with no stringent requirements in terms of latency and reliability. For the safety-related services, if we consider the frequency of periodic messages (e.g., from 1 to 10 messages/second) and the reaction time of most dri- vers (e.g., from 0.6 to 1.4 seconds), then the maximum allowable end-to-end latency must not exceed 100 ms. In fact, depending on the service type, the latency requirement may even be less than 100 ms (e.g., 20 ms for a pre-crash sensing warning). In addition to these types of services, automated driving-related services are being developed as a key transfor- mation in the automotive industry. These services require more rigorous latency limits, data rates, and positioning accuracy. Therefore, the latency requirements for automated driving- related services are more stringent than those required for safety-related services. For exam- ple, automated overtaking or high-density platooning services have a 10 ms latency require- ment. Table 7.1 lists the V2X use cases and the corresponding latency and data rate requirements [15]. V2V communication is conceptually based on D2D communications that was specified as part of proximity-based services (ProSe) in 3GPP Rel-12/Rel-13. The D2D feature provided public safety UEs the option to communicate directly. As part of ProSe, a new D2D inter- face (designated as PC5 interface or sidelink) was defined, which has been subsequently enhanced for vehicular use cases, specifically addressing high-speed (up to 250 km/h) and high node-density scenarios. Therefore