Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to drive on their desired lanes. This paper proposes a formation control method that considers vehicles' preference on different lanes. The bi-level formation control framework is utilized to plan collision-free motion for vehicles, where relative target assignment and path planning are performed in the upper level, and trajectory planning and tracking are performed in the lower level. The collision-free multi-vehicle path planning problem considering lane preference is decoupled into two sub problems: calculating assignment list with non-decreasing cost and planning collision-free paths according to given assignment result. The Conflict-based Searching (CBS) method is utilized to plan collision-free paths for vehicles based on given assignment results. Case study is conducted and simulations are carried out in a three-lane road scenario. The results indicate that the proposed formation control method significantly reduces congestion and improves traffic efficiency at high traffic volumes, compared to the rule-based method.

中文翻译：

---

多车道场景下联网和自动驾驶车辆的车道偏好编队控制

多车道道路是现实世界交通系统中的典型场景。车辆通常根据其路线和目的地优先选择车道。现有的研究很少涉及控制车辆在所需车道上行驶的问题。本文提出了一种考虑车辆在不同车道上的偏好的编队控制方法。双层编队控制框架用于规划车辆的无碰撞运动，上层进行相对目标分配和路径规划，下层进行轨迹规划和跟踪。考虑车道偏好的无碰撞多车路径规划问题解耦为两个子问题：根据给定的分配结果计算具有非递减成本的分配列表并规划无碰撞路径。基于冲突的搜索 (CBS) 方法用于根据给定的分配结果为车辆规划无碰撞路径。进行了案例研究，并在三车道道路场景中进行了模拟。结果表明，与基于规则的方法相比，所提出的编队控制方法在高交通量下显着减少了拥堵并提高了交通效率。