System and method for vehicular data communication

A method of channel reservation for reverse transmission performed by a first V2X terminal and one or more second V2X terminals in proximity realizing closed-loop communication in exchanging data, including driving coordination data for time-sensitive decision-making at the first V2X terminal, the method comprising:

• at the first V2X terminal, determining a number of sub-channels and a number of consecutive forward transmissions for successful conveying a message to one or more intended second V2X terminals;
• at the first V2X terminal, further determining a number of consecutive reverse transmissions for an intended second V2X terminal to successful convey a response message intended to the first V2X terminal;
• at the first V2X terminal, performing sub-channels selection and reservation of selected sub-channels for the number of determined consecutive forward transmissions and consecutive reverse transmission;
• at the first V2X terminal, on a current transmission, indicating whether the next transmission on the selected sub-channel(s) is reserved for its forward transmission or for reverse transmissions from the intended second V2X terminal;
• at the intended second V2X terminal, upon the detection of the indication sub-channel reservation from the first V2X terminal in the last reception, performing transmission according to granted sub-channel reservation information;
• and
• at the intended second V2X terminal, on the current transmission using sub-channel(s) granted by the first V2X terminal, indicating the number of remaining transmissions that use sub-channel reservation by the first V2X terminal.