The purpose of this thesis is to create a co-simulation framework composed of ns3 module for simulating wireless communication network; CarMaker module for simulating vehicle dynamics, the vehicle on-board sensors, and the vehicle traffic; Python engine in control of data collection and control strategies; and MATLAB/Simulink module as an interface between the Python engine and CarMaker. The proposed framework uses Vehicle to Infrastructure communication model for creating the Cooperative Adaptive Cruise Control(CACC) system. The network infrastructure node periodically receives Cooperative Awareness Messages (CAM) from connected vehicles. The packets contain data about each vehicle position, heading, acceleration, velocity. Then the infrastructure node will run a trajectory-based collision avoidance algorithm which forecasts the possible collision between vehicles.