The concept of autonomous driving in today worlds’ transportation systems is of high importance. A lot of studies are investigating the challenges and opportunities related to the transportation policies that will arise as a result of emerging Autonomous Vehicle (AV) technologies. In addition to Intelligent Transport Systems (ITS) applications that rely only on the sensor information of an ego vehicle, recent studies are also examining cooperative ITS paradigms on which the sensor information is shared through by the use of the vehicle-to-everything (V2X) communications. This information could be exchanged in the network based on standardized ITS messages, defined by the European Telecommunications Standards Institute (ETSI), more specifically Cooperative Awareness Message (CAM), Decentralized Environmental Notification Message (DENM) and Collective Perception Message (CPM).