The cooperative vehicle platooning composed of several vehicles can make full use of road resources, improve traffic safety, increase road traffic capacity and even reduce exhaust emissions. However, the longitudinal control effect of the cooperative platoon is always affected by the delay of the vehicle actuators and inter-vehicle communication, which needs to improve the robustness of platooning control. In this paper, the platoon model is established firstly, with considering the vehicle actuators’ lag and inter-vehicle communication delay, integrating the information of the preceding vehicle and the leader vehicle of the platoon, i.e. position, speed, acceleration, and the platoon longitudinal control method based on PID considering delays is designed. Then, the controller parameter boundary conditions which can keep the queue stable and avoid the slinky-effects are derived based on the Lyapunov stability theory. Finally, the platoon composed of ten vehicles is used for simulation analysis based on MATLAB/Simulink. The simulation result shows that the longitudinal control method proposed in this paper can make the controlled vehicle respond quickly to the change of the motion state of its front vehicle and the leader vehicle, and ensure that the vehicle spacing is stable at a safe level. In addition, when the first vehicle encounters emergency conditions for braking (deceleration reaches 0.8g), it can also ensure the safety of the platoon and avoid rear-end collisions.

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