Deploying direct device-to-device (D2D) links is a promising technology for vehicle-to-X (V2X) applications. However, intracell interference, along with stringent requirements on latency and reliability, are challenging issues. In this paper, we study the radio resource management problem for D2D-based safety-critical V2X communications. We first transform the V2X requirements into the constraints that are computable using slowly varying channel state information only. Secondly, we formulate an optimization problem, taking into account the requirements of both vehicular users (V-UEs) and cellular users (C-UEs), where resource sharing can take place not only between a V-UE and a C-UE but also among different V-UEs. The NP-hardness of the problem is rigorously proved. Moreover, a heuristic algorithm, called Cluster-based Resource block sharing and pOWer allocatioN (CROWN), is proposed to solve this problem. Finally, simulation results indicate promising performance of the CROWN scheme
