Simulation method, device and equipment of vehicle group cooperative control model and storage medium

The invention discloses a simulation method and device of a vehicle group cooperative control model, equipment and a storage medium. The method comprises the following steps: respectively acquiring a state information value of a first state space of a parent layer agent and a state information value of a second state space of a child layer agent, and controlling the parent layer agent to perform simulation execution according to the state information value of the first state space, the sub-layer intelligent agent is controlled to perform simulation execution according to the state information value of the second state space, and the first moment when the vehicle arrives at the intersection and the longitudinal acceleration of the vehicle are obtained respectively; and then determining a first reward value of the parent layer intelligent agent and a second reward value of the sublayer intelligent agent, and when the total reward value does not meet a convergence condition, adjusting model parameters to carry o