A wireless transmit/receive unit, WTRU, the WTRU comprising: a memory; and a processor, the processor being configured to: send a first message to one or more vehicles, the first message being indicative of a first conflict between a first trajectory of a first vehicle associated with the WTRU and a second trajectory of a second vehicle, wherein the first message comprises first information indicative of a first tie break bit and of a first priority associated with the first vehicle; receive a second message from the second vehicle, wherein the second message is indicative of the first conflict and a second conflict between the second trajectory of the second vehicle and a third trajectory of a third vehicle, wherein the second message comprises second information indicative of a second tie break bit and of a second priority associated with the second vehicle; determine a cluster head for a cluster based on the first priority and the second priority, wherein the cluster comprises the first vehicle and the second vehicle, and wherein on condition that the first priority is equal to the second priority, determine the cluster head based on a comparison of the first tie break bit and the second tie break bit; and obtain from the cluster head a resolution that addresses the first conflict and the second conflict using a list that includes the second vehicle and the third vehicle. a memory; and a processor, the processor being configured to: send a first message to one or more vehicles, the first message being indicative of a first conflict between a first trajectory of a first vehicle associated with the WTRU and a second trajectory of a second vehicle, wherein the first message comprises first information indicative of a first tie break bit and of a first priority associated with the first vehicle; receive a second message from the second vehicle, wherein the second message is indicative of the first conflict and a second conflict between the second trajectory of the second vehicle and a third trajectory of a third vehicle, wherein the second message comprises second information indicative of a second tie break bit and of a second priority associated with the second vehicle; determine a cluster head for a cluster based on the first priority and the second priority, wherein the cluster comprises the first vehicle and the second vehicle, and wherein on condition that the first priority is equal to the second priority, determine the cluster head based on a comparison of the first tie break bit and the second tie break bit; and obtain from the cluster head a resolution that addresses the first conflict and the second conflict using a list that includes the second vehicle and the third vehicle. send a first message to one or more vehicles, the first message being indicative of a first conflict between a first trajectory of a first vehicle associated with the WTRU and a second trajectory of a second vehicle, wherein the first message comprises first information indicative of a first tie break bit and of a first priority associated with the first vehicle; receive a second message from the second vehicle, wherein the second message is indicative of the first conflict and a second conflict between the second trajectory of the second vehicle and a third trajectory of a third vehicle, wherein the second message comprises second information indicative of a second tie break bit and of a second priority associated with the second vehicle; determine a cluster head for a cluster based on the first priority and the second priority, wherein the cluster comprises the first vehicle and the second vehicle, and wherein on condition that the first priority is equal to the second priority, determine the cluster head based on a comparison of the first tie break bit and the second tie break bit; and obtain from the cluster head a resolution that addresses the first conflict and the second conflict using a list that includes the second vehicle and the third vehicle.