This paper presents the design, development, implementation, and testing of a Cooperative Adaptive Cruise Control (CACC) system, which enhances the performance of Adaptive Cruise Control (ACC) systems by incorporating vehicle-to-vehicle (V2V) wireless communication. The CACC system consists of two controllers: one for approaching maneuvers and another for car-following once the vehicle joins the platoon. The system was implemented on four Infiniti M56 vehicles equipped with DSRC for wireless communication. The paper details the control architecture, vehicle model, and experimental results. The CACC controller is designed to maintain a smooth and accurate driver-desired time gap with the preceding vehicle, while the gap regulation controller manages the car-following policy based on the selected time gap. The gap closing controller handles approaching maneuvers, ensuring a smooth transition to the gap regulation controller. Experimental results show that the CACC system reduces gap variability, handles cut-in and cut-out maneuvers gracefully, and outperforms the commercial ACC system in terms of response time and string stability. The CACC system demonstrates potential improvements in traffic efficiency and safety.This paper presents the design, development, implementation, and testing of a Cooperative Adaptive Cruise Control (CACC) system, which enhances the performance of Adaptive Cruise Control (ACC) systems by incorporating vehicle-to-vehicle (V2V) wireless communication. The CACC system consists of two controllers: one for approaching maneuvers and another for car-following once the vehicle joins the platoon. The system was implemented on four Infiniti M56 vehicles equipped with DSRC for wireless communication. The paper details the control architecture, vehicle model, and experimental results. The CACC controller is designed to maintain a smooth and accurate driver-desired time gap with the preceding vehicle, while the gap regulation controller manages the car-following policy based on the selected time gap. The gap closing controller handles approaching maneuvers, ensuring a smooth transition to the gap regulation controller. Experimental results show that the CACC system reduces gap variability, handles cut-in and cut-out maneuvers gracefully, and outperforms the commercial ACC system in terms of response time and string stability. The CACC system demonstrates potential improvements in traffic efficiency and safety.