The Vehicle to Vehicle (V2V) Basic Safety service for Commercial Vehicle Platooning exchanges basic safety messages with surrounding Connected Vehicles to support and augment the safety warning and control automation features identified in autonomous Vehicle Safety Systems. These exchanges support Connected Vehicle safety applications defined in SAE J2945/1: Emergency Electronic Brake Lights, Forward Crash Warning, Blind Spot Warning/Lane Change Warning, Intersection Movement Assist, Left Turn Assist, and Control Loss Warning. It also supports Do Not Pass Warning, Motorcycle Approaching indication, Tailgating Advisory, Stationary Vehicle, and Pre-Crash Actions applications.