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

Hidalgo, Carlos; Arizala, Asier; Iturbe-Olleta, Nagore; Brazalez, Alfonso; Zubizarreta, Asier; Asua, Estibaliz; Rastelli, Joshué Pérez · 2025 · Crossref

DOI: 10.1109/tvt.2025.3578725

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Summary

This paper addresses the challenge of implementing vehicle platooning in complex urban environments, a key application of Cooperative, Connected, and Automated Mobility (CCAM) systems. While platooning offers benefits such as reduced fuel consumption and improved road capacity, its success depends on seamless, low-latency Vehicle-to-Everything (V2X) communication. The authors identify significant gaps in existing research, particularly the lack of standardized negotiation procedures for platoon formation and the neglect of real-world urban variables in favor of purely simulated studies. Motivated by the AUTOEV@l project, the study aims to develop and validate a cooperative driving framework that integrates specific V2X message protocols, decision-making algorithms, and control strategies to enable dynamic platoon engagement and disengagement. The methodology centers on the AUDRIC architecture, which employs a Real-Time Trajectory Planning approach using a Finite State Machine and A* search algorithms for decision-making. Control is managed via a dual proportional plus curvature controller for lateral movement and a Fuzzy logic-based platoon control algorithm for longitudinal coordination, utilizing a Predecessor-Only Following topology. The framework implements custom V2X messages aligned with ISO 4272:2022 guidelines, specifically Platoon Management Messages for negotiation and Platoon Control Messages for real-time data exchange. Testing was conducted across three distinct setups: a simulation platform using Veins (OMNeT++ and SUMO), a real-world platform using automated Renault Twizy vehicles equipped with Commsignia OBUs supporting ITS-G5, and a hybrid environment integrating real vehicles with simulated agents via digital twins. The results demonstrate the framework’s robust performance in communication reliability, control accuracy, and decision-making execution across all three experimental setups. The study highlights that while C-V2X offers superior packet error rates in isolated conditions, ITS-G5 provides lower latency and better performance in congested scenarios, making it preferable for immediate urban deployment. The implemented negotiation process successfully allowed vehicles to dynamically join and leave platoons, validating the effectiveness of the custom message protocols. Furthermore, the hybrid testing approach confirmed that the system could maintain stability and coordination when interacting with both real and virtual agents, addressing the interoperability challenges often overlooked in prior research. The significance of this work lies in its comprehensive validation of a cooperative driving framework that bridges the gap between theoretical control strategies and practical urban implementation. By providing a standardized approach to platoon negotiation and demonstrating effective coordination in mixed environments, the paper contributes to the maturation of CCAM technologies. The findings suggest that leveraging ITS-G5 for short-range, high-density urban communications, combined with robust control algorithms, can enhance the safety and efficiency of automated mobility. This framework offers a scalable solution for future intelligent transportation systems, supporting the integration of diverse vehicle types and communication standards in real-world urban traffic.

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• v2x connected vehicle