A method for operating a first user equipment, UE (UE_1), in a wireless vehicular communication network, method comprising: determining at least one of multiple resource pools comprising time and frequency resources to transmit a plurality of messages including control and data messages to at least one second UE (UE_2), wherein the plurality of messages comprise event-triggered aperiodic traffic or periodic traffic and the at least one of the multiple resource pools comprises a shared resource pool, and wherein multiple traffic types or priorities are multiplexed in the at least one of the multiple resource pools; dynamically adjusting a resource selection within the multiple resource pools based on resource selection criteria; and directly communicating the plurality of messages to the at least one second UE using the at least one of the multiple resource pools, wherein the directly communicating of the plurality of messages to the at least one second UE using the at least one of the multiple resource pools comprises: identifying resources in the shared resource pool, the resources comprising a first resource set for traffic of first type and a second resource set for traffic of second type; determining at least one resource for transmitting the traffic of first type among the first resource set according to a priority order of the resources in the shared resource pool; and if the first resource set is unavailable in the shared resource pool, determining at least one additional resource for transmitting the traffic of first type among the second resource set according to the priority order of the resources in the shared resource pool, wherein the two types of traffic are event-triggered aperiodic traffic and periodic traffic. determining at least one of multiple resource pools comprising time and frequency resources to transmit a plurality of messages including control and data messages to at least one second UE (UE_2), wherein the plurality of messages comprise event-triggered aperiodic traffic or periodic traffic and the at least one of the multiple resource pools comprises a shared resource pool, and wherein multiple traffic types or priorities are multiplexed in the at least one of the multiple resource pools; dynamically adjusting a resource selection within the multiple resource pools based on resource selection criteria; and directly communicating the plurality of messages to the at least one second UE using the at least one of the multiple resource pools, wherein the directly communicating of the plurality of messages to the at least one second UE using the at least one of the multiple resource pools comprises: identifying resources in the shared resource pool, the resources comprising a first resource set for traffic of first type and a second resource set for traffic of second type; determining at least one resource for transmitting the traffic of first type among the first resource set according to a priority order of the resources in the shared resource pool; and if the first resource set is unavailable in the shared resource pool, determining at least one additional resource for transmitting the traffic of first type among the second resource set according to the priority order of the resources in the shared resource pool, wherein the two types of traffic are event-triggered aperiodic traffic and periodic traffic. identifying resources in the shared resource pool, the resources comprising a first resource set for traffic of first type and a second resource set for traffic of second type; determining at least one resource for transmitting the traffic of first type among the first resource set according to a priority order of the resources in the shared resource pool; and if the first resource set is unavailable in the shared resource pool, determining at least one additional resource for transmitting the traffic of first type among the second resource set according to the priority order of the resources in the shared resource pool, wherein the two types of traffic are event-triggered aperiodic traffic and periodic traffic.