With　the　progress　of　the　eras　and　the　development　of　science　and　technology,　the　requirements　of　device-to-device　(D2D)　connectivity　increased　rapidly.　As　one　important　service　in　future　systems,　ultra-reliable　low-latency　communication　(URLLC)　has　attracted　attention　in　many　applications,　especially　in　the　Internet　of　Things　(IoT),　smart　cities,　and　other　scenarios　due　to　its　characteristics　of　ultra-low　latency　and　ultra-high　reliability.　However,　in　order　to　achieve　the　requirement　of　ultra-low　latency,　energy　consumption　often　increases　significantly.　The　optimization　of　energy　consumption　and　the　latency　of　the　system　in　the　communication　field　are　often　in　conflict　with　each　other.　In　this　paper,　in　order　to　optimize　the　energy　consumption　and　the　latency　jointly　under　different　scenarios,　and　since　the　detailed　requirements　for　latency　and　reliability　are　diverse　in　different　services,　we　propose　an　adaptive　UE　aggregation　(AUA)-based　transmission　scheme　that　explores　the　diversity　gain　of　multiple　simultaneous　paths　to　reduce　the　overall　latency　of　data　transmission,　wherein　multiple　paths　correspond　to　multiple　coordination　nodes.　Furthermore,　it　could　provide　the　feasibility　of　link　adaptation　by　adjusting　the　path　number　according　to　the　real　transmission　environment.　Then,　unnecessary　energy　waste　could　be　avoided.　To　evaluate　the　performance,　the　energy-delay　product　(EDP)　is　proposed　for　the　latency　and　energy　comparison.　The　provided　simulation　results　align　with　the　numerical　data.　Through　the　analysis,　it　can　be　proven　that　the　proposed　scheme　can　achieve　a　joint　optimization　of　latency　and　energy　consumption　to　meet　different　types　of　URLLC　services.