A key feature of inter-vehicle communications is their ability of supporting cooperative safety-critical applications (CSCA) which prevent a vehicle from colliding with the others. In this paper, we present a crosslayer beaconing design for CSCA that keeps the tracking uncertainty below a fixed threshold, provided that a receiving vehicle has at least one of the K latest beacons of the sending vehicle. To aim this, we present the mobility-adaptive beaconing (MAB), in which the sending vehicle determines whether or not to broadcast its new beacon at each frame based on the maximum tracking uncertainty in the subsequent K frames. Numerical results from the simulation show that the MAB scheme outperforms the existing beaconing approaches in the sense that it can always limit the tracking uncertainty to a fixed threshold.
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