Multi-lane Formation Assignment and Control for Connected Vehicles

This paper is concerned with coordinated formation assignment and control of multiple connected vehicles in highway scenario. A dynamical interlaced layered formation generation method is introduced to provide safe distance among vehicles and efficiency for coordinated lane changing and formation switching simultaneously in real time. To assign vehicles to the generated formation, the optimal problem is modeled by introducing the function of numbers of changed lanes for all the vehicles with respect to the kinematic constraints, and on-board local controllers for the vehicles are developed. Simulation result indicates that, comparing to existing methods for lane assignment in multiple traffic scenarios, the method provided by this paper could increase the traffic efficiency by utilizing maximum road capacity while decreasing travel time for all the vehicles.