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To make transportation safer, more efficient, and less harmful to the environment, traffic telematics services are currently being intensely investigated and developed. Such services require dependable wireless vehicle-to-infrastructure and vehicle-to-vehicle communications providing robust connectivity at moderate data rates. The development of such dependable vehicular communication systems and standards requires accurate models of the propagation channel in all relevant environments and scenarios. Key characteristics of vehicular channels are shadowing by other vehicles, high Doppler shifts, and inherent nonstationarity. All have major impact on the data packet transmission reliability and latency. This paper provides an overview of the existing vehicular channel measurements in a variety of important environments, and the observed channel characteristics (such as delay spreads and Doppler spreads …