Urban environments are among the most challenging scenarios for car-following systems, since pedestrians may interfere with the platoon unexpectedly. To address this problem, this paper proposes a cooperative system using vehicle-to-vehicle and vehicle-to-pedestrian communication links. A fractional-order control-based cooperative adaptive cruise control benefits of communication for tighter inter-vehicle distances, while pedestrian communication is fused with LiDAR sensing to allow the detection of occluded pedestrians. The prediction of the pedes-trians' trajectories is used to perform a speed reduction or an emergency braking that interrupts the car-following yif necessary. Whenever a platoon decoupling occurs, a gap-closing maneuver is executed so that the ego-vehicle rejoins the platoon in a string stable way. The complete system was tested on experimental platforms at inria facilities, providing encouraging results and demonstrating the correct performance of the integrated systems. Index Terms— Cooperative systems, fractional calculus, intelligent transportation system (ITS), sensor fusion, collision avoidance system.