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Currently, the number of vehicles increases every year, raising the probability of having accidents. When an accident occurs, wireless technologies enable vehicles to share warning messages with other vehicles by using vehicle to vehicle (V2V) communications, and with the emergency services by using vehicle to infrastructure (V2I) communications. Regarding vehicle to infrastructure communications, Road Side Units (RSUs) act similarly to wireless LAN access points, and can provide communications with the infrastructure. Since RSUs are usually very expensive to install, authorities limit their number, especially in suburbs and areas of sparse population, making RSUs a precious resource in vehicular environments. In this paper, we propose a Density-based Road Side Unit deployment policy (D-RSU), specially designed to obtain an efficient system with the lowest possible cost to alert emergency services in …