With the rapid growth of the number of vehicles, the traffic problems of expressway are becoming more and more serious. Vehicular platoon technology can effectively solve these problems and it can also improve road capacity and safety. But the current test of vehicular platoon focuses on 2D scenes lacking 3D scenes which can simulate the real environment. Also, there are too many researches on longitudinal motion control of vehicular platoon while little attention is paid to lateral motion control. Therefore, this paper has completed three main contents: Firstly, the vehicular platoon motion control algorithm is designed and implemented, especially the lateral motion control algorithm. Secondly, the vehicular platoon motion control simulation testing system is constructed and realized based on Unity and driving simulator. Through the driving simulator, the throttle, brake and steering wheel data are sent by serial communication to the vehicular platoon in the Unity virtual scene. And then the simulation data during the vehicular platoon movement is collected. Finally, the vehicular platoon motion control experiment is carried out in the previously built simulation testing system. And then the speed running track map and the vehicle spacing changing map are drawn to analyze the stability of the vehicular platoon motion control. The test results show that the vehicular platoon motion control algorithm designed in this paper can effectively control the entire vehicular platoon. The speed running track map and the vehicle spacing changing map of the vehicular platoon change evenly. Therefore, it indicates that the vehicular platoon motion can be kept stable during the operation. This simulation experiment lays the foundation for the real test of vehicular platoon motion control in the future. Key words：vehicular platoon control, virtual simulation system, Unity, driving simulator

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