Vehicle-to-vehicle (V2V) communication enables human-driven (HV) and autonomous vehicles (AVs) to share their situational awareness and constitute a form of mass intelligence to overcome the limitations of a single agent planning in a decentralized fashion. Specifically, we proposed methods that enable the 3GPP C-V2X communication technology to handle thousands of vehicles in heavily congested environments. I presented one of the earliest performance analysis & proposed perhaps the first congestion control algorithm implementation for C-V2X. The outcomes of my work contributed to the development of SAE J3161 standard.