Experimental Validation of Multi-lane Formation Control for Connected and Automated Vehicles in Multiple Scenarios

TL;DR

This paper presents experimental validation of multi-lane formation control for connected and automated vehicles, demonstrating its effectiveness across various traffic scenarios and improving formation-structure-switching efficiency.

Contribution

It provides the first experimental validation of multi-lane formation control methods for connected and automated vehicles across multiple scenarios.

Findings

Formation control method is applicable to various traffic scenarios.

Experimental results show improved formation-structure-switching efficiency.

The framework and control strategies are validated through real-world experiments.

Abstract

Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the performance of formation control methods. This paper presents the experimental results of multi-lane formation control for connected and automated vehicles. The coordinated formation control framework and specific methods utilized for different scenarios are introduced. The details of experimental platform and vehicle control strategy is provided. Simulations and experiments are conducted in different scenarios, and the results indicate that the formation control method is applicable to multiple traffic scenarios and able to improve formation-structure-switching efficiency compared with benchmark methods.