Plug-in type cooperative lane changing control method for intelligent network connection motorcade

The invention relates to an intelligent network connection fleet plug-in cooperative lane changing control method, which comprises the following steps that: a central controller acquires controlled vehicle information and reference coordinate origin information in an intelligent network connection fleet, and makes behavior, speed and lane changing decisions for the controlled fleet; a backward following information topological structure is established, and a controlled vehicle takes following of a following vehicle as a target; the central controller receives the decision control command and adopts a corresponding speed decision and a motion control command according to the behavior command; in the lane changing process, a backward following information topological structure is adopted, the acceleration, braking and steering process of each controlled vehicle is optimized and controlled in a time domain, optimized control instructions are generated and sent to a power system, a braking system and a steering s