The evolution in computing, communication and vehicular technologies have resulted in connected and autonomous vehicles. Due to its potential of significantly reducing highway crashes, fatality rates and improving quality of life, the autonomous vehicles are viewed as the next revolution in the transportation system by both private sector and public agencies. As the National Highway Transportation Safety Administration (NHTSA) moves towards mandating vehicle-to-vehicle (V2V) connectivity for new vehicle models in the next few years, automotive industries are now increasing their efforts to develop V2V enabled vehicles.