  In a self-driving environment, vehicles communicate with each other to create
a closely spaced multiple vehicle strings on a highway, i.e., high-density
vehicle platooning (HDVP). In this paper, we address the Cellular Vehicle to
Everything (C-V2X) quality of service (QoS) and radio coverage issues for HDVP
and propose a dynamic platooning mechanism taking into account the change of
coverage condition, the road capacity, medium access control (MAC) and spectrum
reuse while at the same time guaranteeing the stringent QoS requirements in
terms of latency and reliability.
