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For cellular-based vehicle-to-everything (C-V2X) communication, vital information about status and intention is periodically broadcasted by each vehicle using the cooperative awareness message (CAM) service. In C-V2X, the task of resource allocation can either be carried out in a centralized manner by the network, termed Mode 3, or by the vehicles themselves in a distributed manner without any core network support, termed Mode 4. Mode 4 scheduling is accomplished by employing sensing-baseddoi:10.3390/electronics8080846 fatcat:jiz3rqpqyrhjpiejb3codnilb4