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The long-term goal of this project is to derive systems that would allow the safe and efficient coordination of collaborating vehicles in high-density highway traffic in order to alleviate traffic congestion and reduce driving stress. The challenge is to ensure safe movements of each vehicle, inside the collaborative driving system. An architecture for the control and collaboration of vehicles is needed. We will present the importance of communication in CDS. After reviewing related work, the control scenarios for making vehicles join a pre-existing platoon, leave a platoon, join two platoons, do lane transition of a platoon or for ensuring safe emergency procedures are presented. The architecture developed to assure the safe execution of those scenarios is then exposed.