Cooperative vehicular platooning: a multi-dimensional survey towards enhanced safety, security and validation

Cooperative Vehicular Platooning (Co-VP) is a prime example of Cooperative Cyber-Physical Systems (Co-CPS), offering great potential for enhancing road safety by reducing human involvement in driving. However, this domain presents significant challenges, incorporating control theory, communications, vehicle dynamics, security, and traffic engineering. This survey explores recent advancements in Co-VP, covering control strategies, communication infrastructures, and cybersecurity. It also examines testing and validation methods, such as simulation tools, hardware-in-the-loop setups, and vehicular testbeds. Lastly, it outlines open challenges within the Co-VP field. This comprehensive overview serves as a guide for further developments in this complex and critical area.