A method of a first user equipment (UE) in a wireless vehicular communication network. The method includes receiving a plurality of messages including control and data messages from at least one second UE using at least one of multiple resource pools, wherein the plurality of messages comprise event-triggered or periodic traffic and the multiple resource pools comprise at least one of dedicated or shared resource pools. The method further includes determining the at least one of the multiple resource pools to transmit the plurality of messages to the at least one second UE, wherein multiple traffic types or priorities are multiplexed in the at least one of the multiple resource pools. The method further includes dynamically adjusting resource selection of the first UE within the at least one of the multiple resource pools based on a state of the wireless vehicular communication network and directly communicating the plurality of messages to the at least one second UE using the at least one of the multiple resource pools.