Abstract: Disclosed are system and methods for prioritized authentication between a plurality of mobile objects. The system comprises: at least a safety application module capable of generating periodically or at specific time instants messages having at least current real-time mobility information of at least the mobile object; at least a mobility module capable of continuously tracking a real-time location information of at least the mobile object; at least a security module having at least one of a signature generation module and a signature verification module, wherein the signature generation module is capable of signing messages generated by the safety application module, wherein the signature verification module is capable of prioritizing the verification of exchanged messages between mobile objects; and at least a communication module capable of transmitting the messages signed by the security module through a network.