The idea of cooperation has been introduced to selfdriving cars about a decade ago with the aim to reduce the occlusion caused by other users or the scene. More recently, the research efforts turned toward cooperative infrastructure bringing a new kind of the point of view as well as more processing power. This paper lies in this new field providing a survey that addresses the cooperative environment. We provide an overview of the architectures available to create such a system as well as the challenges introduced by the cooperation. Later, we review the main blocks involved in the perception: localization, object detection & tracking, map generation. Each block is reviewed under the prism of cooperation. We also provide a Strengths, Weaknesses, Opportunities, and Threats (SWOT) analysis of the cooperative perception as well as a list of related scenarios alongside experimentations. Finally, we list some related datasets before concluding our paper, underlining the perspectives for further works.