The growing number of vehicles that travel on existing roads leads to congested traffic, which involves the increase of fuel consumption, longer journey times and driving stress, among others. The automated vehicles could greatly improve the traffic flow by controlling their pace in relation to the other traffic participants, but there still remains the need of maintaining larger gaps between the vehicles to tackle unexpected situations. Another solution is brought by vehicle platooning, a concept that involves the creation of vehicle platoons, which travel closely together and are electronically connected. As such, the subsequent idea is to consider vehicle flocking, i.e., intelligent vehicles that travel in groups on multiple lanes and maintain small gaps between them by exchanging information related to their position, speed, acceleration, yaw angle and their forecasts. Thus, starting from the mentioned idea, this paper proposes a control architecture, which considers both the lateral and longitudinal dynamics of the vehicles, in order to create and maintain a group of vehicles on multiple lanes. The proposed concept was tested using a simulator designed in SUMO and Matlab, and the obtained results are promising.