This paper presents a new cooperative scheduling scheme for large-scale freight vehicles in the road network, which combines fuel consumption cost and time cost. This scheme can solve the problem of vehicle platoon coordination optimization while maximizing transportation cost saving. Firstly, a vehicle transportation cost model based on fuel consumption cost and time cost is established, the transportation cost saving rate of any two vehicles traveling in a group is calculated cyclically by fine-tuning the speed and path of some vehicles, and the vehicles meeting the conditions of the group are constructed as the vehicle group coordination graph. Then, an algorithm based on central clustering division is used to transform the problem of vehicle formation into a cluster solution problem, and the lead vehicle with the maximum transportation cost saving is solved, so that it can form a platoon to drive in public sections. Finally, considering the road slope and speed limit, a dynamic programming method based on spatial sampling is adopted to optimize the speed of the merged vehicles, so as to further reduce the transportation cost of vehicles. Simulation results verify the feasibility and effectiveness of the proposed optimization scheme and solution idea.