Aspects are provided for dynamic resource sharing between V2V and I2V communications. A wireless device selects resources from a shared resource pool in frequency and time. The shared resource pool is shared for I2V communication and communication over a PC5 interface originating from a User Equipment (UE). The wireless device identifies a first priority level for communication from a set of priority levels for I2V communication and UE originated communication. The set of priority levels may comprise at least one priority level unique to the I2V communication.