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Cooperative vehicular networks require the continuous exchange of beacon messages between neighboring vehicles to support cooperative awareness applications. The position error computed by surrounding vehicles impacts on applications capability to detect and mitigate potentially dangerous traffic situations in real-time. A challenge in cooperative safety systems is to maintain a high position accuracy, while controlling the communication channel load. In this paper, we propose a novel joint power/rate control distributed algorithm to meet the position accuracy requirements of cooperative safety applications. The beacon transmission rate is adjusted dynamically as a function of the vehicle movement status, to constrain position error computed by surrounding vehicles. Then, the transmit power is adjusted according to the channel load and the preset beacon transmission rate, to decrease packet collisions. This …