Under the mixed traffic flow, connected vehicle would be able to coordinate to complete driving tasks. Modeling cooperative driving strategy has gained attention with the application of Cooperative Adaptive Cruise Control (CACC). This paper focuses on the multi-vehicle cooperative driving strategy. The theoretical research foundation of swarm intelligence is reviewed, including Boid Model, Vicsek Model, Linearized Vicsek Model and Olfati-Saber Model. The model of multi-vehicle cooperative system is proposed based on Olfati-Saber model, considering the velocity matching, flocking centering and collision avoidance. Moreover, the stability and robustness of the model is proved theoretically. The model provides a new research view for multi-vehicle cooperative system.

CICTP