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With the uprising demand for cooperative connected and autonomous driving, vehicle-to-vehicle (V2V) communications became a key technology enabler for future intelligent transportation systems. For years, IEEE 802.11p has been the technology of choice for V2V. Recently, LTE-V, a standard, developed under the umbrella of 3GPP, is considered a key step of cellular technology in addressing safety-critical requirements of vehicular networks. In this paper, a Priority and guarantee-bAsed Resource aLlocation approach with Reuse Mechanism (PEARL-RM) is proposed for infrastructure-managed LTE-V networks (mode 3). The main goal is to meet the strict QoS requirements of safety applications in terms of reliability and latency. Simulation results show significant improvements achieved by PEARL-RM in terms of system capacity utilization, packet reception ratio, and latency when dealing with safety and non …