A Cooperative Driving Framework for Platooning Using V2X Messages in Urban Environments

Urban road networks are becoming increasingly complex due to rising traffic volumes and diverse vehicle types, creating a demand for innovative solutions to enhance mobility. In this sense, this paper presents the development and implementation of a Cooperative Driving Framework for vehicle platooning in urban environments, with a special focus on Vehicle-to-Everything (V2X) communication technologies. As part of the AUTOEV@l project, the study examines communication requirements and operational strategies for platooning, highlighting the role of Intelligent Transportation Systems G5 (ITS-G5) and Cellular-V2X (C-V2X) technologies while addressing key challenges such as interference, security, and interoperability. Furthermore, the paper details the design and implementation of V2X message protocols developed for urban platooning scenarios, along with decision-making and control algorithms that enable efficient coordination among Connected and Automated Vehicles (CAVs). Results from urban test environments across three distinct experimental setups—simulation, real-world testing, and a hybrid approach—demonstrate the framework's robust performance in three critical areas: communication reliability, control accuracy, and decision-making execution.