## 1 Introduction  
Ultra-Reliable Low-Latency Communication (URLLC) is one among the significant vertices of the 5G triangle. The 3 rd Generation Partnership Project (3 GPP) describes URLLC's reliability, assuring 99.99% for transmission of a 32-byte data frame and an E2E latency of 1 ms for both uplink and downlink. URLLC holds certainty in mission-critical applications such as industrial automation, the healthcare industry, intelligent transportation, media, smart electricity grid, and so on. Accounting for one of the mission-critical applications of Intelligent Transportation Systems (ITSs), transportation efficiency and safety have emerged as a serious predicament--as indicated by the World Health Organization (WHO) in the Global Status Report on Road Safety [1] about the increasedroad accident rates--and also alarm us regarding the huge growth in the number of vehicles to 2 billion by the year 2050. Our research primarily focuses on Intelligent Transportation Systems (ITSs) that have become absolutely futuristic for traffic management, facilitating users with extended safety, coordination, and smartness [2]. To specify, Tesla's Autopilot, Google's Waymo, and Baidu's Apolong are eminently fascinating in driverless technology, reckoning one-fourth of prospectus vehicles are expected to be autonomous in 2030. The onset of the IEEE 802.11p Vehicle-to-Everything (V2X) communication standard that uses WLAN technology appears to be a pivotal innovation to guarantee safety, energy savings, and an effective ITS. This technology communicates in two modes: Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V). The former one, V2I, is responsible for high data rate messages between vehicles and infrastructure, which are Road Side Units (RSU). On the contrary, V2V communication focuses on delivering safety-critical messages between connected vehicles [3]. Through systemized data exchange, latency in the vehicle's response time is reduced by avoiding eventual hurdles. The performance of Long-Term Evolution (LTE) for V2X communications in the Third Generation Partnership Project (3 GPP) has been analyzed [4; 5], in which eNodeBs are responsible for handling Radio Resource Management (RRM). However, the traditional LTE architecture could not achieve the demands of Quality of Service (QoS) required for V2X applications. Consequently, Device-to-Device (D2D) communication emerged as the ongoing technology for prospective cellular systems, especially in meeting the needs of safety-critical V2X applications. In D2D communication, devices that are geographically close to each other communicate by sharing the same resources just like Cellular User Equipment (C-UE), with the possibilities of high reliability through proximity gain, low latency through hop gain, and spectrum utilization through reuse gain [6]. Meanwhile, reusing the same resources drives interference, and accomplishing the necessary latency and reliability in V2X communications becomes cumbersome. Eventually, RRM is focused on as a crucial problem encountered by the communications in V2X applications. Simultaneously, ITS fosters autonomous vehicular platooning. The platooning maneuver is a promising technology for autonomous vehicles, particularly for handling traffic and prevailing transportation costs. Moreover, another major hindrance in the urban road system is intersection capacity utilization, which is just a fragment of actual intersection capacity. As an alternative to the ensuing of vehicles, platooning the vehicles strengthens the intersection capacity three-fold [7]. In brief, platooning refers to a convoy of interconnected cars or trucks that coordinate their kinetics and mobility pattern regularly. In each platoon formed, there will be a lead or Captain Vehicle (CV) and a group of Follower Vehicles (FV). The Captain Vehicle is responsible for communication with corresponding platoon vehicles, and the Follower Vehicles trail one another closely [8].