The invention discloses a highway vehicle homogeneous/heterogeneous formation driving control method. According to the method, formation driving is realized based on control logic which is representedby wish decision, uniform heterogeneity judgment, queue numbering, vehicle coordinated lane change and steady driving. A head vehicle, used as a decision-making vehicle, sends a formation request tothe other vehicles, and receives the formation wills of the other vehicles and decides formation; the head vehicle judges whether a formation is a homogeneous formation or a heterogeneous formation bymeans of the quantitative calculation of the formation vehicles, and applies different numbering mechanisms respectively; and each vehicle judges whether the vehicle itself or the vehicle ahead needslane change according to the homogeneous formation, the heterogeneous formation, the states of the vehicles and dynamics information, and performs lane change when reaching a safety distance. According to the highway vehicle homogeneous/heterogeneous formation driving control method of the invention, the vehicles are numbered according to the homogeneous/heterogeneous property of the formation ina highway formation process, and the stable operation of the vehicles in the formation is ensured; a virtual mode in which the vehicles form a formation in a predicted manner is adopted to divide adjacent two vehicles into one group of planned trajectories, and therefore, the complexity of the formation can be greatly simplified, and the efficiency of the formation can be improved.