Longitudinal-only platooning methods are facing great challenges on running mobility, since they may be impeded by slow-moving vehicles from time to time. To address this issue, this paper proposes a vehicles swarming method coupled both longitudinal and lateral cooperation. The proposed method bears the following contributions: i) enhancing driving mobility by swarming like a bee colony; ii) ensuring the success rate of overtaking; iii) cruising as a string of platoon to preserve sustainability. Evaluations indicate that the proposed method is capable of maneuvering a vehicle swarm to overtake slow-moving vehicles safely and successfully. The proposed method is confirmed to improve running mobility by 12.04%. Swarming safety is ensured by a safe following distance. The proposed method's influence on traffic is limited within five upstream vehicles.

翻译：仅纵向编队方法在行驶机动性方面面临重大挑战，因为其可能时常受到慢速车辆的阻碍。为解决此问题，本文提出了一种耦合纵向与横向协同的车辆群集方法。所提方法具有以下贡献：i) 通过类似蜂群的群集行为提升行驶机动性；ii) 确保超车成功率；iii) 以编队形式巡航以保持可持续性。评估结果表明，该方法能够安全且成功地操纵车辆群集超车慢速车辆。经确认，所提方法使行驶机动性提升12.04%。通过安全跟车距离保障群集安全性。所提方法对交通流的影响仅限于上游五辆车辆范围内。