“…For example, corresponding to Fig. 7(b), the priority scheduling sequence without Renew messages of vehicles υ 18 to υ 25 is (υ 18 , υ 20 , υ 22 , υ 24 , υ 25 , υ 19 , υ 21 , υ 23 ), whereas when the Renew mechanism is activated, the sequence will be (υ 20 , υ 22 , υ 24 , υ 25 , υ 18 , υ 19 , υ 21 , υ 23 ) because the arriving sequence in Q + is updated dynamically along with the change in P T W s. From the experiment results, we make sure that although the full scheduling sequence has changed, the sequence of vehicles(H) remains the same, and the scheduling performance is guaranteed.…”