Vehicle cooperative following control system and method based on 5G V2X

The invention discloses a vehicle cooperative following control system and method based on 5G V2X. The control system is composed of a 5G V2X communication module, a vehicle state acquisition module,a cooperative decision-making layer and a motion control layer. The control method comprises the steps that firstly, motion state information of a front vehicle and a main vehicle is collected, then an expected vehicle distance is calculated through a safety distance model, expected acceleration is calculated through a model prediction controller in combination with a vehicle kinematics model, anda vehicle motion control mode is determined through a driving/braking decision module according to the expected acceleration; and PID control parameters are determined through a fuzzy controller, andfinally the PID controller adjusts the driving torque or the braking pressure of the controlled vehicle to achieve cooperative following control over the front vehicle by the main vehicle. The systemand the method have the adv