A method for predicting a quality of service for a communication between at least two moving communication partners, wherein the prediction is based on at least one link-based quality of service map that is updated in a link-based QoS map generation process. Since classical radio maps are node-based, the classical radio maps are not appropriate for estimating an end-to-end latency for the communication link. The end-to-end latency is needed when determining whether safety critical messages are to be exchanged over this communication link.