The present invention discloses a cooperative-type
queue driving
system based on communication and a team forming and quitting method based on the same. Each vehicle in the
queue is provided with onequeue driving
system. The
system comprises: a turn
signal switch, a
queue head vehicle application switch, a queue following vehicle application switch, a takeover queue head vehicle switch, a quitting queue head vehicle switch, a quitting queue following vehicle switch, a vehicle speed sensor, a
yaw velocity sensor, an automatic driving vehicle speed and
steering control module and an ECU calculation module which are connected with a
CAN bus, the ECU calculation module obtains switching signals of queue driving, vehicle speeds and the
yaw velocity signals from the
CAN bus and sends the switching signals of queue driving, the vehicle speeds and the
yaw velocity signals to the automatic driving vehicle speed and
steering control module; a high-precision
location model is employed to send the location information of the vehicles to the ECU calculation module, a
wireless communication module is employed to receive and broadcast the queue driving information, and an HMI prompting module isemployed to display the queue state information. The
driving safety of team forming and quitting is ensured.