diff --git a/src/dcm.c b/src/dcm.c
index 000256a..e85046e 100644
--- a/src/dcm.c
+++ b/src/dcm.c
@@ -51,6 +51,8 @@ static int are_vehicles_intersecting(
 int dcm_check(void* fc, DCM_t* dcm) {
     facilities_t* facilities = (facilities_t*) fc;
 
+    DCM_t* dcm_req = NULL;
+
     it2s_tender_st_s trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
     it2s_tender_st_s trajectoryB[TRAJECTORY_MAX_LEN+1]; /* neighbour trajectory */
     uint16_t trajectoryA_len = 0;
@@ -86,19 +88,76 @@ int dcm_check(void* fc, DCM_t* dcm) {
         ++trajectoryB_len;
     }
 
+    bool intersecting = false;
+    int index = 0;
+
     if (trajectoryA_len > 1 && trajectoryB_len > 1) {
-        int index = 0;
-        if (are_vehicles_intersecting(
+        intersecting = are_vehicles_intersecting(
                     trajectoryA, trajectoryA_len, facilities->vehicle.length, facilities->vehicle.width, 
                     trajectoryB, trajectoryB_len, dcm->dcm.vehicleDimensions.length, dcm->dcm.vehicleDimensions.width,
-                    &index)
-                ) {
-            syslog_info("[facilities] [dc] intersection danger with %ld @ (%d, %d) in %ld ms", 
-                    dcm->header.stationID, trajectoryA[index].latitude, trajectoryA[index].longitude, trajectoryA[index].timestamp - now);
-        }
+                    &index);
     }
 
+    if (!intersecting) goto cleanup;
+
+    syslog_info("[facilities] [dc] intersection danger with %ld @ (%d, %d) in %ld ms", 
+                    dcm->header.stationID, trajectoryA[index].latitude, trajectoryA[index].longitude, trajectoryA[index].timestamp - now);
+
+    // Initiate conflict resolution
+    dcm = calloc(1, sizeof(DCM_t));
+    it2s_tender_st_s trajectory[TRAJECTORY_MAX_LEN];
+
+    dcm->header.messageID = 43;
+    dcm->header.protocolVersion = 1;
+    dcm->header.stationID = 1;
+    pthread_mutex_lock(&facilities->id.lock);
+    dcm->header.stationID = facilities->id.station_id;
+    pthread_mutex_unlock(&facilities->id.lock);
+            
+    dcm->dcm.currentPosition.latitude = lat;
+    dcm->dcm.currentPosition.longitude = lon;
+    asn_ulong2INTEGER(&dcm->dcm.currentPosition.timestamp, now);
+
+    // Vehicle Dimensions
+    dcm->dcm.vehicleDimensions.length= facilities->vehicle.length;
+    dcm->dcm.vehicleDimensions.width = facilities->vehicle.width;
+
+    // Planned trajectory
+    dcm->dcm.plannedTrajectory.list.count = --trajectoryA_len;
+    dcm->dcm.plannedTrajectory.list.size = trajectoryA_len * sizeof(void*);
+    dcm->dcm.plannedTrajectory.list.array = malloc(trajectoryA_len * sizeof(void*));
+    for (int i = 0; i < trajectoryA_len; ++i) {
+        dcm->dcm.plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
+        dcm->dcm.plannedTrajectory.list.array[i]->latitude = trajectory[i+1].latitude;
+        dcm->dcm.plannedTrajectory.list.array[i]->longitude = trajectory[i+1].longitude;
+        asn_ulong2INTEGER(&dcm->dcm.plannedTrajectory.list.array[i]->timestamp, trajectory[i+1].timestamp);
+    }
+
+    // Desired trajectory
+    dcm->dcm.negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
+    dcm->dcm.negotiation->present = CoordinationNegotiation_PR_request;
+    dcm->dcm.negotiation->choice.request.desiredTrajectories.list.count = 1;
+    dcm->dcm.negotiation->choice.request.desiredTrajectories.list.size = sizeof(void*);
+    dcm->dcm.negotiation->choice.request.desiredTrajectories.list.array = malloc(1*sizeof(void*));
+    dcm->dcm.negotiation->choice.request.desiredTrajectories.list.array[0] = calloc(1,sizeof(ProposedTrajectory_t));
+    ProposedTrajectory_t* pt = dcm->dcm.negotiation->choice.request.desiredTrajectories.list.array[0];
+
+    pt->trajectory.list.count = trajectoryA_len;
+    pt->trajectory.list.size = sizeof(void*) * trajectoryA_len;
+    pt->trajectory.list.array = malloc(sizeof(void*) * trajectoryA_len);
+    for (int i = 0; i < trajectoryA_len; ++i) {
+        pt->trajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
+        pt->trajectory.list.array[i]->latitude = trajectory[i+1].latitude;
+        pt->trajectory.list.array[i]->longitude = trajectory[i+1].longitude;
+        asn_ulong2INTEGER(&pt->trajectory.list.array[i]->timestamp, trajectory[i+1].timestamp);
+    }
+
+    pt->offer = 5;
+    pt->priority = 1;
+    pt->id = 0;
+
 cleanup:
+    ASN_STRUCT_FREE(asn_DEF_DCM, dcm_req);
     return 0;
 }