Vehicle-to-Everything (V2X) communications enable the exchange of information among vehicles to improve road safety and traffic efficiency. As V2X deployments progress, vehicles are expected to support an increasing number of V2X services, often characterized by different priorities and data transmission requirements. However, existing V2X congestion control mechanisms primarily focus on maintaining channel load stability and fairness at the vehicle level, typically assuming homogeneous traffic demands. This paper proposes a demand- and priority-aware adaptive congestion control technique that explicitly accounts for heterogeneous and time-varying V2X service requirements. The results demonstrate that the proposed technique improves the satisfaction of V2X service demands while maintaining stable channel operation. The proposed technique aligns with current V2X standards, preserving backward compatibility while providing enhancements consistent with ongoing standardization activities.

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