Cooperative Vehicular Platooning (Co-VP) is a paradigmatic example of a Cooperative Cyber-Physical System (Co-CPS), which holds the potential to vastly improve
road safety by partially removing humans from the driving task. However, the challenges are substantial, as the domain involves several topics, such as control theory,
communications, vehicle dynamics, security, and traffic engineering, that must be
coupled to describe, develop and validate these systems of systems accurately. This
work presents a comprehensive survey of significant and recent advances in Co-VP relevant fields. We start by overviewing the work on control strategies and underlying communication infrastructures, focusing on their interplay. We also address a fundamental concern by presenting a cyber-security overview regarding these systems. Furthermore, we present and compare the primary initiatives to test and validate those systems, including simulation tools, hardware-in-the-loop setups, and vehicular testbeds. Finally, we highlight a few open challenges in the Co-VP domain. This work aims to provide a fundamental overview of highly relevant works on Co-VP topics, particularly by exposing their inter-dependencies, facilitating a guide that will support further developments in this challenging field.info:eu-repo/semantics/publishedVersio
