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Cooperative intelligent transport system (C-ITS) is an emerging technology that enables secure and safe road travel using wireless communications. Vehicles regularly share their mobility information with the neighborhood road traffic and infrastructure-based road side units using cooperative awareness messages (CAMs) to develop a local dynamic map for safety applications. Since the applications provided by C-ITS are related to human safety, reliable as well as secure communications are required. To protect the vehicular network from untrusted data of malicious users that could cause network congestion and reduce vehicle safety, ITS standards have proposed various security procedures. In this paper, we analyze the interrelation between security, quality of service (QoS), and safety awareness of vehicles in C-ITS. To formulate an accurate measure of vehicle safety awareness, we first propose novel vehicle …