Table 1 Summary of key findings in our study

SI rarely affects PDR and delay of STDMA

Physical transmission rate significantly affects PDR. A rate maximizing PDR is likely to increase with vehicle density

Proper configuration of CS threshold helps to improve PDR

Delay is independent of SI, CS threshold, and physical transmission rate

Delay of STDMA decreases linearly with NI.

PDR is not high enough to support critical safety applications, particularly in high vehicle density

Time synchronization error degrades PDR