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Driving automation and vehicle-to-vehicle (V2V) communication provide opportunities to deploy cooperative automated driving systems (C-ADS) for transportation system goals such as sustainability, safety, and efficiency. Among various C-ADS applications, vehicle platooning has great potential to achieve the above system management goals by establishing trajectory-aware V2V cooperative strategies among C-ADS vehicles. Previously, the concept of cooperative adaptive cruise control (CACC)—that is, single-lane decentralized ad-hoc operations of multiple vehicles that closely follow each other—has been studied by researchers extensively. This study builds upon the existing research and proposes a comprehensive multi-lane platooning algorithm with organized behavior via a hierarchical framework. The proposed algorithm adopts the modern state of the art (SOTA) C-ADS software platform framework …