Adaptive Cruise Control System Using Model Predictive Control for Multiple Vehicles and Multiple Lane

Hi

I want to execute Adaptive Cruise Control System Using Model Predictive Control example. But for multiple lanes and multiple vehicles in each lane. How should I modify the model?

For instance, the road has Number_of_lane = 3

Total_vehicle = 15

vehicle_in_lane 1 = 5

vehicle_in_lane 2 =6

vehicle_in_lane 3 = 4