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With the recent 5G communication technology deployment, Cellular Vehicle-to-Everything (C-V2X) significantly enhances road safety by enabling real-time exchange of critical traffic information among vehicles, pedestrians, infrastructure, and networks. However, further research is required to address real-time application latency and communication reliability challenges. This paper explores integrating cutting-edge C-V2X technology with environmental perception systems to enhance safety at intersections and crosswalks. We propose a multi-module architecture combining C-V2X with state-of-the-art perception technologies, GPS mapping methods, and the client–server module to develop a co-operative perception system for collision avoidance. The proposed system includes the following: (1) a hardware setup for C-V2X communication; (2) an advanced object detection module leveraging Deep Neural Networks (DNNs); (3) a client–server-based co-operative object detection framework to overcome computational limitations of edge computing devices; and (4) a module for mapping GPS coordinates of detected objects, enabling accurate and actionable GPS data for collision avoidance—even for detected objects not equipped with C-V2X devices. The proposed system was evaluated through real-time experiments at the GMMRC testing track at Kettering University. Results demonstrate that the proposed system enhances safety by broadcasting critical obstacle information with an average latency of 9.24 milliseconds, allowing for rapid situational awareness. Furthermore, the proposed system accurately provides GPS coordinates for detected obstacles, which is essential for effective collision avoidance. The technology integration in the proposed system offers high data rates, low latency, and reliable communication, which are key features that make it highly suitable for C-V2X-based applications.