Fig 1.
Cluster-based communication architecture.
Fig 2.
Clustering transition model.
Fig 3.
Cluster head election flow diagram.
Table 1.
Notations and description.
Fig 4.
CH leadership transfer flow diagram.
Table 2.
Simulation parameters and their values.
Fig 5.
Safety application implementation scenario using proposed approach.
Fig 6.
Status of a cluster at different vehicle densities.
Fig 7.
Cluster formation messages at different vehicle densities.
Fig 8.
Safety-critical messages delay report at different vehicledensities.