@article{multilaneunsignalizedintersection,
  title = {Multi-lane Unsignalized Intersection Cooperation with Flexible Lane Direction based on Multi-vehicle Formation Control},
  author = {Mengchi Cai and Qing Xu and Chaoyi Chen and Jiawei Wang and Keqiang Li and Jianqiang Wang and Xiangbin Wu},
  year = {2021},
  eprint = {2108.11112},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.11112v1},
}