Cooperative Connected and Automated Mobility: A Survey

Cooperative Connected and Automated Mobility (CCAM) is a critical paradigm for overcoming the limitations of single-vehicle intelligence and enabling coordinated intelligent transportation. To address the lack of systematic reviews towards recent CCAM advances, this paper presents a comprehensive review of relevant publications from the past five years. First, we establish a unified framework spanning communication, perception, decision-making, and control, and clarify the associated core components and technologies. Then, we identify three major bottlenecks that constrain large-scale CCAM deployment: uncertainty propagation along the perception-decision-control (PDC) chain, misalignment between functional safety and SOTIF standards, and inadequate end-to-end cybersecurity protection. In the context of 5G-A/6G, edge computing, and large-language-model-driven intelligence, we further propose targeted research directions. This survey aims to provide a systematic reference for theoretical investigation and engineering implementation.