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The rapid development and deployment of the Cellular V2X (C-V2X) require a highly reliable support system for many vehicular key applications. However, the current standard sensing-based semi-persistent scheduling (SB-SPS) protocol yields poor performance in terms of reliability, due to the hidden terminal problem and the half-duplex issue. In this paper, we propose a reliable self-adaptive MAC protocol for C-V2X Mode 4 (autonomous sidelink). It utilizes frame information and RSSI todoi:10.1109/access.2022.3183186 fatcat:f3a6zb3tmzccdczcy3ntx3u2w4