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Multi-vehicle coordinated decision making and control can improve trafficefficiency while guaranteeing driving safety. Formation control is a typicalmulti-vehicle coordination method in the multi-lane scenario. Among theexisting formation control methods, the formation switching process ispredefined and the collision-free behavior of vehicles has not been consideredand explained in detail. This paper proposes a formation control method formultiple Connected and Automated Vehicles (CAVs) on multi-lane roads. Firstly,a bi-level planning framework is proposed to switch the structure of theformation in different scenarios smoothly and effectively. Secondly, therelative coordinate system is established and the conflict-free relative pathsare planned in the upper level. Then, multi-stage trajectory planning andtracking are modeled and solved as an optimal control problem with pathconstraints in the lower level. Next, case study is conducted to verify thefunction of the proposed method in different scenarios. Finally, simulation inthe lane-drop bottleneck scenario is carried out under different traffic volumeand numerical results indicate that the proposed method can improve bothtraffic efficiency and fuel economy at high traffic volume.

Formation Control for Connected and Automated Vehicles on Multi-lane Roads: Relative Motion Planning and Conflict Resolution