Co-operative automated driving (CAD) is a key 5th generation mobile networks (5G) use case with stringent quality of service (QoS) requirements. The current autonomous resource selection mode of vehicle-to-vehicle (V2V) communications is susceptible to the hidden node problem and half- duplex limitations and has fixed-size transmission sub-channels which limit its ability to meet QoS requirements. Therefore, in order to increase the reliability, this paper proposes a communication session establishment for CAD operation where the session members jointly select and reserve a pool of favorable radio resources for intra-session communications. Furthermore, an inter-session coordination by means of cluster formation is proposed which enables resource pool sharing among sessions to allow for QoS aware resource allocation. Simulation results show that the proposed scheme significantly outperforms LTE-V Mode-4 in terms of sidelink quality and packet delivery ratio (PDR).