To achieve the economy, green and high efficiency, the platoon of autonomous vehicles in highway is one of the key services for the Autonomous Transportation System (ATS). At present, there have been few works related to the service components and the cooperation relationship in service architecture of platoon. Therefore, this paper first abstracts about the basic services and operational processes based on the literature analysis. On this basis, the platoon service architecture is constructed and then it is divided into three generations, where the evolution of service component subset and cooperation relationship is analyzed. Third, the subset of the required service components and their cooperation relationship are analyzed for the typical driving obstacle encounter scenario, according to whether the roadside can facilitate the out-of-team awareness through communication. In addition, an example is used to verify that the intergenerational improvement of service architecture can improve system performance brought by technological progress.
 

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