  In this paper, a unified multi-vehicle formation control framework for
Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic
scenarios is proposed. In the one-dimensional scenario, different formation
geometries are analyzed and the interlaced structure is mathematically
modelized to improve driving safety while making full use of the lane capacity.
The assignment problem for vehicles and target positions is solved using
Hungarian Algorithm to improve the flexibility of the method in multiple
scenarios. In the two-dimensional scenario, an improved virtual platoon method
is proposed to transfer the complex two-dimensional passing problem to the
one-dimensional formation control problem based on the idea of rotation
projection. Besides, the vehicle regrouping method is proposed to connect the
two scenarios. Simulation results prove that the proposed multi-vehicle
formation control framework can apply to multiple typical scenarios and have
better performance than existing methods.
