Self-adaptive formation control method for strip mine changeable road unmanned vehicle group

The invention discloses a strip mine changeable road unmanned vehicle group adaptive formation control method, and the method comprises the steps: enabling a mine card to sense an external environment through the fusion of a sensor disposed on the mine card, obtaining the information of a vehicle through the combination of the sensor and a GPS, and obtaining the width and curvature information of a road through a deep learning-based target detection method; defining mine cards which run in the same direction and have the same destination as a vehicle group, and determining a navigator and a follower of the mine vehicle group; carrying out path planning on each mine truck in the mine truck group based on an improved A * algorithm in combination with an artificial potential field method; on the basis of 5G network coverage and V2V communication interaction, for different types of changeable roads of a mine, formation and transformation of various formations of vehicle groups, vehicle following and obstacle avoi