diff --git a/src/vcm.c b/src/vcm.c
index 3cd07e7..739ad43 100644
--- a/src/vcm.c
+++ b/src/vcm.c
@@ -308,6 +308,7 @@ static int vcm_check_handle_reply(VCM_t* vcm, mc_neighbour_s* neighbour) {
         if (all_rep) {
             ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req);
             coordination->session.req = NULL;
+            coordination->session.ts = itss_time_get();
             memset(coordination->session.affs, 0, sizeof(coordination->session.affs));
             memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs));
             coordination->session.n_affs_trjs = 0;
@@ -491,6 +492,7 @@ static int intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour) {
     ssize_t vcm_req_len = (enc.encoded + 7) / 8;
 
     coordination->session.req = vcm_req;
+    coordination->session.ts = now;
     coordination->session.n_affs_trjs = 1;
     coordination->session.n_affs_neighs[0] = n_intneigh;
     memcpy(coordination->session.affs[0], intneigh, sizeof(intneigh));
@@ -679,15 +681,16 @@ int vcm_check(VCM_t* vcm) {
                 }
             } else { 
                 if (
-                    now < neighbour->t_iid/1000 + MC_RESOLUTION_TIMEOUT ||
-                    now < neighbour->t_proposal + MC_RESOLUTION_TIMEOUT
+                    (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) || /* issued request */
+                    now < neighbour->t_proposal + MC_RESOLUTION_TIMEOUT /* issued reply */
                     ) { /* in maneuver */
-                    log_warn("[coordination] received basic VCM of vehicle while maneuvering with it"); 
+                    log_debug("[coordination] ignoring VCM - currently in maneuver"); 
 
                 } else { /* not in maneuver OR timeout reached */
                     if (coordination->session.req) { /* clear previous request if exists */
                         ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req);
                         coordination->session.req = NULL;
+                        coordination->session.ts = now;
                         memset(coordination->session.affs, 0, sizeof(coordination->session.affs));
                         memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs));
                         coordination->session.n_affs_trjs = 0;
diff --git a/src/vcm.h b/src/vcm.h
index 3d029e7..773dcac 100644
--- a/src/vcm.h
+++ b/src/vcm.h
@@ -39,6 +39,7 @@ typedef struct coordination {
 
     struct {
         VCM_t* req; /* last VCM.request sent */
+        uint64_t ts;
 
         uint32_t affs[MC_TRAJECTORIES_N_MAX][MC_AFF_STATIONS_N_MAX]; /* trjs over affected stations */
         uint8_t n_affs_trjs;