I. Introduction
The increasing trend toward connectivity and automation in the realm of transportation has spurned interest in the adoption of technologies for improving the management of traffic. The advent of connectivity has enabled the collection and aggregation of data from transportation systems at all levels, including moving and stationary elements. CAVs can transmit vehicle information to roadside infrastructure and other vehicles. Similarly, connected roadside infrastructure and traffic management centers can transmit information about the current road conditions and traffic states. Based on these connected systems, a number of service packages (or applications) have been developed that provide specific safety and mobility-related services and benefits [1].