“…Typical scenarios of multivehicle control include single-lane platooning [1]- [3], coordinated lane changing [4]- [6], conflict resolution at ramps and bottlenecks [7]- [9], and scheduling at intersections [10]- [12], etc. Existing research reveals that multi-vehicle coordination has great potential to guarantee driving safety, improve traffic efficiency, and reduce energy consumption [13]- [15], compared with single-vehicle control. However, there is a lack of multi-vehicle coordination methods that consider both longitudinal and lateral behavior of vehicles in multi-lane scenarios.…”