C-V2X message processing timeline adaption based on contouring of remote vehicles and available delay budget

Techniques described herein provide for filtering and prioritizing incoming messages, which can help reduce and smooth out the processing load on components used to process the incoming messages. Filtering techniques may comprise identifying a subset of nearby vehicles from which messages are to be processed, and further calculating remaining delay budgets with regard to the messages to prioritize them for processing. Different techniques for determining a subset of nearby vehicles can be used, and/or remaining delay budgets may be calculated and/or communicated in different ways.