Vehicle formation driving control method, device and equipment and storage medium

The invention discloses a vehicle formation driving control method, device and equipment and a storage medium. The method comprises the following steps: acquiring a relative azimuth angle between a vehicle and a tail vehicle in a target queue; according to the relative azimuth angle, a virtual position where the vehicle can be inserted into the target queue is determined, and the virtual position comprises the position behind the tail vehicle and the position behind the head vehicle; the method has the beneficial effects that when the vehicle formation needs to be performed again, the specific insertion position can be determined to keep the distance stability of the original vehicle formation, so that the urban traffic jam condition is relieved, the road space is fully utilized, the road passing rate is improved, and the driving safety is improved. 本发明公开了一种车辆编队行驶控制方法、装置、设备及存储介质，包括：获取本车与目标队列中尾车的相对方位角；根据相对方位角，确定本车可插入目标队列中的虚拟位置，其中，虚拟位置包括所述尾车后和头车后；有益效果：能够在需要重新进行车辆编队时，确定出具体的插入位置，以保持原车队的间距稳定性，从而缓解城市交通拥堵情况，充分利用道路空间