  Cooperative driving, enabled by communication between automated vehicle
systems, promises significant benefits to fuel efficiency, road capacity, and
safety over single-vehicle driver assistance systems such as adaptive cruise
control (ACC). However, the responsible development and implementation of these
algorithms poses substantial challenges due to the need for extensive
real-world testing. We address this issue and introduce OpenConvoy, an open and
extensible framework designed for the implementation and assessment of
cooperative driving policies on physical connected and autonomous vehicles
(CAVs). We demonstrate the capabilities of OpenConvoy through a series of
experiments on a convoy of multi-scale vehicles controlled by Platooning to
show the stability of our system across vehicle configurations and its ability
to effectively measure convoy cohesion across driving scenarios including
varying degrees of communication loss.
