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In this paper, we propose a two-level adaptive resource allocation (TARA) framework to support vehicular safety message transmissions. In particular, three types of safety messages are considered in urban vehicular networks, i.e., event-triggered messages for urgent condition warnings, periodic messages for vehicular status notifications, and messages for environmental perception. Roadside units are deployed for network management, and thus messages can be transmitted through either vehicle-to-infrastructure or vehicle-to-vehicle connections. To satisfy the requirements of different message transmissions, TARA framework consists of a group-level resource reservation module and a vehicle-level resource allocation module. Particularly, the resource reservation module is designed to allocate resources to support different types of message transmissions for each vehicle group at the first level. To learn the …