Cooperative Intelligent Transport Systems (C-ITS) provide the communication framework supporting Cooperative and Connected Automated Mobility (CCAM) via standardized Vehicle-to-Everything (V2X) message exchanges. Complex traffic environments require real-time coordination among vehicles to ensure safety, fairness, and smooth traffic flow, particularly in the absence of centralized control or fixed roadside infrastructure such as traffic lights or Roadside Units (RSUs). This paper proposes a Cluster-based Priority-Aware (CPA) coordination mechanism for intersection management. In the proposed scheme, vehicles approaching an intersection form a temporary cluster, within which a Cluster Head (CH) is dynamically elected to compute and broadcast a priority-based crossing schedule.