Vehicular Ad hoc Networks (VANETs) have been receiving a lot of interest from academia, automotive industry, and government, as they hold the potential to enable a wide range of applications and services, improving both safety and comfort on the road. One of the main drivers of vehicular communications is the support for safety applications (e.g. accident, traffic jam notifications), which together with the more recent autonomous and coordinated driving applications require low end-to-end delay and no packet loss.