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Connected Vehicle (CV) technologies have been progressing rapidly in the US. The capability afforded by Vehicle-to-Vehicle (V2V) communication improves situational awareness and provides advantages for many of the traffic problems caused by reduced visibility or No-Line-of-Sight situations, being useful for both autonomous and non-autonomous driving. Additionally, with the traffic light Signal Phase and Timing (SPaT) and Map Data (MAP) information and other advisory information provided with Vehicle-to-Infrastructure (V2I) communication, outcomes which benefit the driver in the long run, such as reducing fuel consumption with speed regulation or decreasing traffic congestion through optimal speed advisories, providing red light violation warning messages and intersection motion assist messages for collision-free intersection maneuvering are all made possible.