Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Formation Control for Connected and Automated Vehicles on Multi-lane
  Roads: Relative Motion Planning and Conflict Resolution   Multi-vehicle coordinated decision making and control can improve traffic
efficiency while guaranteeing driving safety. Formation control is a typical
multi-vehicle coordination method in the multi-lane scenario. Among the
existing formation control methods, the formation switching process is
predefined and the collision-free behavior of vehicles has not been considered
and explained in detail. This paper proposes a formation control method for
multiple Connected and Automated Vehicles (CAVs) on multi-lane roads. Firstly,
a bi-level planning framework is proposed to switch the structure of the
formation in different scenarios smoothly and effectively. Secondly, the
relative coordinate system is established and the conflict-free relative paths
are planned in the upper level. Then, multi-stage trajectory planning and
tracking are modeled and solved as an optimal control problem with path
constraints in the lower level. Next, case study is conducted to verify the
function of the proposed method in different scenarios. Finally, simulation in
the lane-drop bottleneck scenario is carried out under different traffic volume
and numerical results indicate that the proposed method can improve both
traffic efficiency and fuel economy at high traffic volume.

18
The categories of this paper are: econ
23
The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
27
The categories of this paper are: comp-gas
20
The categories of this paper are: acc-phys
22
The categories of this paper are: chao-dyn
28
The categories of this paper are: alg-geom
33
The categories of this paper are: plasm-ph
0
The categories of this paper are: hep-ph
32
The categories of this paper are: atom-ph
15
The categories of this paper are: nucl-ex
7
The categories of this paper are: hep-th
12
The categories of this paper are: nucl-th
3
The categories of this paper are: physics
26
The categories of this paper are: bayes-an
8
The categories of this paper are: hep-ex