A method comprising: accessing a response mapping defining a set of safety-critical functions associated with a safety-critical latency threshold and a set of safety responses, each safety response corresponding to a safety-critical function; executing a time-synchronization protocol with a transmitting system to calculate a clock reference; accessing a safety message schedule indicating an expected arrival time for each safety message in a series of safety messages based on the clock reference; for each safety message in the series of safety messages, calculating a latency of the safety message based on an arrival time of the safety message and the expected arrival time; and in response to a latency of a current safety message in the series of safety messages exceeding the safety-critical latency threshold, initiating the safety response corresponding to the safety-critical function for each safety-critical function in the set of safety-critical functions.