The invention relates to a fish streaming based non-signal intersection vehicle-vehicle cooperation control system and belongs to the field of vehicle control. A sensing positioning module of the system comprises an environment sensing portion and a navigation positioning portion and specifically comprises a DGPS positioning device, an inertial navigation system, a radar device and a sensor. A motion control module comprises a motion controller, a driver, an actuator, a transmission part and a controlled part. A wireless communication module consists of a transmitting-receiving device. A human-computer interaction interface comprises a processor, a display unit, an input unit, a communication interface and a data storage unit. A power management and control module comprises a storage battery and a level conversion unit. A route planning module adopts global route planning and is provided with an electronic map. A decision control module comprises a central processing unit, an information processing unit and a storage unit. Compared with the prior art, the fish streaming based non-signal intersection vehicle-vehicle cooperation control system has the advantages of being used for an unmanned vehicle, being provided with a wireless communication module and being high in active safety and road utilization rate.