The invention relates to an unmanned vehicle formation driving method based on a directed communication network. The method comprises the following steps that 1) the transfer function model of the individual unmanned vehicles of the unmanned vehicle formation is identified; 2) the communication network topology of the unmanned vehicle formation is set and the input degree of each vehicle is acquired; 3) the H2 optimal formation controller of the individual unmanned vehicles is constructed according to the performance index; 4) a filter fi(s) is connected in series after the H2 optimal formation controller and the stability domain of the performance degree is acquired, and compromise of the nominal performance and the robust performance can be realized through quantitative adjustment in thestability domain; 5) the H2 optimal formation controller of the individual unmanned vehicles is converted into the optimal PID controller; and 6) the optimal PID formation controller is discretized so as to acquire the control signal sequence and output the formation control command. Compared with the methods in the prior art, the unmanned vehicle formation driving method has the advantages of distributed individual design, facilitating actual application and balancing the nominal performance and the robust performance.