One of the obstacles for heavy-duty vehicle platooning on public roads is given by the absence of EU legislation on this topic.This work includes a presentation to the most influential groups involved in discussing autonomous driving and their work,which has had an important role inside the European FP7 funded project COMPANION.Then,an extensive analysis is performed on the current state of EU and local rules regarding automated driving,driving time regulations,traffic regulations,and safety aspects.The analysis done is divided in three different subjects: vehicles as individual elements regarding the semiautonomous driving,the use of vehicles and platoons as a system,and the use of the infrastructures where the platoons will run.Finally,some recommendations to the regulatory framework are given so as to deal with the new necessities that have been detected and that have been created along the COMPANION project duration.The main conclusion that can be drawn is that much work remains to be done.Even though the main lines have been sta-blished,the future Regulation content is still under discussion and will be strongly influenced by the technical evolution of vehicles,the manufacturers that join this kind of initiatives or the authorities implication in platooning projects.