  Vehicle-to-vehicle communication is a fundamental requirement in cooperative
vehicular systems to achieve high performance while keeping high safety
standards. Vehicles periodically exchange critical information with nearby
vehicles to determine their maneuvers according to the information quality and
established strategies. However, wireless communication is prone to failures.
Thus, participants can be unaware that other participants have not received the
information on time resulting in conflicting trajectories that may not be safe.
We present a deterministic solution that allows all participants to use a
default strategy when other participants have not received on time the complete
information. We base our solution on a timed distributed protocol that adapts
its output according to the effect of message omission failures so that the
disagreement period occurs for no longer than a constant time (of the order of
milliseconds) that only depends on the message delay. We formally show the
correctness and perform experiments to corroborate its efficiency. We explain
how the proposed solution can be used on vehicular platooning to attain high
performance and still guarantee high safety standards despite communication
failures. We believe that this work can facilitate the implementation of
cooperative driving systems that have to deal with inherent (communication)
uncertainties.
