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Vehicle-to-Vehicle (V2V) communication is expected to make a global impact on improving driver safety by alerting motorists of potential collisions, but the full safety benefit can only be realized if every vehicle is equipped with a transceiver. Motivated to provide collision avoidance for drivers of vehicles only equipped with a V2V transceiver, we develop a framework for using the V2V communication signal simultaneously as a radar without suggesting any changes to the existing V2V standards or spectrum. The theoretical system treats the IEEE 802.11p waveform as a Multi-Frequency Continuous Wave signal to estimate the velocity and range of a vehicular threat not equipped with a V2V transceiver. While spectrum and upper layers of the protocol stack can vary depending on geographic region, the IEEE 802.11p physical layer protocol is adopted globally. Restrictions in waveform design due to IEEE 802.11p …