Transportation is a key driver of development, enabling people to have access to jobs, education, health, and goods. Still, the unintended consequences of transportation constitute a big risk, threatening the global sustainable development. About 64% of global oil consumption and 23% of the worldwide CO2 emissions are attributed to transportation [1]. Moreover, every year, congestion accounts for billions of dollars due to wasted time and fuel consumption, and the World Health Organization (WHO) [2] estimated that 1.3 million people died on roads in 2015. Connected and Automated Vehicles (CAVs) hold the potential to improve the current operational safety and efficiency of the transportation system by relieving drivers from some or all the driving tasks and enabling the cooperation among vehicles, between vehicles, and roadway infrastructure or other road users.