Unmanned vehicle group forming algorithm based on edge calculation in expressway scene and auto-cooperation model construction method

The invention discloses an unmanned vehicle group forming algorithm based on edge calculation in an expressway scene and an auto-cooperation model construction method. The method comprises the following steps: 1, definition, 2, an unmanned vehicle group formation algorithm, and 3, construction of an unmanned vehicle group auto-cooperation model. In consideration of the problem that an open type unmanned vehicle group cannot be effectively kept stable and ordered under the interference of manned vehicle nodes and roadside identifiers under the highway background, the invention provides a layered multi-role node unmanned vehicle group forming method based on an edge calculation idea, so that tasks are allocated to different role nodes, repeated calculation of the nodes is effectively avoided, and collaboration between the corresponding nodes is kept; an unmanned vehicle group self-coordination model is given by combining and considering the connectivity and stability of the unmanned vehicle group network; the m