How do you design cooperative driving systems where vehicles coordinate maneuvers?

Cooperative driving design: 1) Communication architecture - V2V direct communication (DSRC or C-V2X PC5), low latency requirements (<100ms), message standards (SAE J2735, ETSI); 2) Coordination protocols - cooperative adaptive cruise control (CACC) for platooning, cooperative merging algorithms, intersection coordination; 3) State sharing - broadcasting position, velocity, intentions, planned trajectory; 4) Distributed decision making - consensus algorithms, handling mixed traffic (cooperative and non-cooperative vehicles), graceful degradation when communication fails; 5) Trust and verification - validating received information, handling misbehavior detection, security against spoofing. Benefits include improved traffic flow, fuel efficiency (platooning), and safety at intersections. Challenges include mixed fleet transition, regulatory framework, and liability questions.