Automatic driving cooperative control system and method under support of intelligent network connection road

The invention provides a technology related to automatic driving, and particularly relates to an automatic driving system in which an intelligent connected vehicle (CAV) interacts with an intelligent connected road (CAH) in real time, in particular to an automatic driving system in which the intelligent connected vehicle (CAV) interacts with the intelligent connected road (CAH) in real time. The automatic driving system provides collaborative awareness; performing collaborative prediction and decision making; and traffic control and CAV coordination control are carried out. 本发明提供了与自动驾驶有关的技术，特别是由智能网联汽车(ConnectedAutomated Vehicle，CAV)与智能网联道路(Connected Automated Highway，CAH)实时交互的自动驾驶系统。该自动驾驶系统提供协同感知；协同预测与决策；交通管控和CAV协调控制。