In the existing formation model, vehicles in the same lane or adjacent lane are regarded as the structure, and the driving behavior of vehicles is studied from the perspectives of safety, speed consistency, and stability, and the speed control model is proposed from the perspective of vehicles themselves, to obtain a stable fleet with the same distance and speed. However, in this process, the initial condition of the vehicle, the traffic flow environment, and the efficiency of the fleet formation are less considered. Therefore, based on summarizing the existing fleet building model, this paper puts forward the rapid construction model and algorithm of a cooperative adaptive cruise control platoon fleet. One of the important goals of forming a team is to enter the team with the smoothest trajectory in the shortest time. Therefore, this chapter studies the trajectory optimization of the vehicle formation process from the perspective of vehicle dynamics.