Heavy-duty truck marshalling control method under automatic driving mixed running condition

The invention discloses a heavy-duty truck marshalling control method under an automatic driving mixed driving condition, which comprises the following steps of: 1, establishing communication connection between a target heavy-duty truck and a vehicle team through a roadside RSU (Roadside Unit), and calculating a longitudinal distance s0 between the target heavy-duty truck and an expected driving-in position in the vehicle team; 2, controlling the target heavy-duty truck to accelerate/decelerate to a planned speed and keep running stably until an expected deceleration/acceleration target point; 3, controlling the target heavy-duty truck to change the driving speed until the driving speed is consistent with the driving speed of the motorcade and arrives at an expected driving-in position in the motorcade; 4, enabling the motorcade to open the parking space for the target heavy-duty truck to drive in, and judging whether the parking space at the position where the target heavy-duty truck is planned to drive in i