  Connected and Autonomous Vehicles (CAVs) require continuous access to sensory
data to perform complex high-speed maneuvers and advanced trajectory planning.
High priority CAVs are particularly reliant on extended perception horizon
facilitated by sensory data exchange between CAVs. Existing technologies such
as the Dedicated Short Range Communications (DSRC) are ill-equipped to provide
advanced cooperative perception service. This creates the need for more
sophisticated technologies such as the 5G Millimetre-Waves (mmWaves). In this
work, we propose a distributed Vehicle-to-Vehicle (V2V) mmWaves association
scheme operating in a heterogeneous manner. Our system utilises the information
exchanged within the DSRC frequency band to bootstrap the best CAV pairs
formation. Using a Stable Fixtures Matching Game, we form V2V
multipoint-to-multipoint links. Compared to more traditional point-to-point
links, our system provides almost twice as much sensory data exchange capacity
for high priority CAVs while doubling the mmWaves channel utilisation for all
the vehicles in the network.
