随着车路协同技术不断应用、自动驾驶技术不断成熟，车队相关技术和理论逐渐成为了研究热点，高速公路是目前研究中车队仿真运行、道路示范试验的最重要场所。目前关于车队应用的研究多集中在运行控制、能耗分析等方面，对于如何合理加入已有车队的研究鲜有报道。. 项目在国内外相关技术全面调研基础上，确定典型车辆类型、并进行初步编队；在高速公路环境中，利用流体仿真方法进行车队参数的改变和优化，从而获得典型车队；基于群智感知方法，构建数据采集时空域计算模型、开发群智感知环境识别系统，并针对车辆加入车队典型场景进行环境识别；研究车辆加入车队多因素耦合作用机理，在车路协同背景下设计加入的初步方案；考虑安全、高效、低能耗，基于场论构建车辆加入车队评价模型，进行模型运算和加入方案优化，最终获得典型场景下较合理的车辆加入车队方案。项目研究成果为高速公路车队协同运行提供理论和技术保障。

With the continuous application of vehicle road integration technology and the maturity of autonomous driving technology, the relevant technology and theory of the platoon has gradually become a research hotspot. The highway is the most important place to perform platoon simulation operation and road test. At present, research on platoon applications is mostly focused on operational control, energy consumption analysis, etc. There are few reports on how to reasonably join existing platoon.. Based on comprehensive research on related technologies all over the world, the project defines the typical vehicle type and conducts preliminary formation. In the highway environment, the fluid simulation method is used to change and optimize the platoon parameters to obtain a typical platoon. Based on the crowd-intelligent sensing method, construct the time-space domain calculation model for data collection, develop the crowd-intelligent sensing environment recognition system, and identify the environment for the typical scene of the vehicle joining the platoon. Study the multi-factor coupling mechanism of the vehicle joining the platoon, and design a preliminary plan based on vehicle road integration. Considering safety, high efficiency, low energy consumption, based on field theory, vehicles joining the platoon model is constructed, and the model calculation and the joining scheme are optimized. Finally, a more reasonable vehicles joining the platoon plan under typical scenarios is obtainded. The research results of the project provide theoretical and technical support for the vehicle road integration of the highway platoon.