In　FIRA5v5　robot　soccer　simulation,　good　attack　algorithm　is　a　key　factor　to　win　a　match.　However,　most　traditional　offensive　shooting　algorithms　neglects　the　importance　in　controlling　the　velocity　of　the　ball.　This　paper　realizes　a　high-speed　driving　ball　algorithm　to　improve　attack　efficiency.　In　this　method,　a　main　attacker　and　an　assistant　player　work　in　cooperation　to　control　the　speed,　angle　and　other　factors　to　improve　the　ball　speed,　which　is　far　greater　than　the　attack　players　and　the　goalkeeper＇s　speed.　Specially,　the　position　of　ball　on　the　move　are　predicted,　and　the　factors　including　robot　vehicle＇s　size　and　the　ball＇s　radius　are　also　taken　into　consideration.　Experiments　were　conducted　using　this　method　and　the　results　show　its　effectiveness　and　efficiency.