Experimental Validation of Multi-Lane Formation Control for Connected and Automated Vehicles

Formation control is typical for connected and automated vehicles (CAVs) in multi-lane scenarios, where the geometric formation structure of vehicle groups needs to be re-configured to adapt to different situations. This paper utilizes an experimental platform to verify the performance of the formation control method that was proposed in our previous research, under the realtime communication and computing condition. The definition and framework of the proposed method is introduced. Simulations are conducted to verify the formation-structure-switching efficiency compared with benchmark methods. The experimental process is presented, and the results indicate that the formation control method is applicable to multiple traffic scenarios.