number of vehicles increases. Traffic congestion causes economic loss, air pollution and traffic accident. In order to solve this problem, study on vehicle platooning using the technology of inter-vehicle communication has been studied widely. The platooning is a method of grouping vehicles with a short inter vehicle distance with help of electric and mechanical control, which is expected to reduce traffic congestion, and save labor and energy. However, when realizing platooning in the real world, the adequate system of the velocity of the vehicles in the platoon is necessary. In this study, the traffic situation is assumed so that the vehicles in the platoon and the other ones are travelling on the road. The vehicles in the platoon can keep their distance short by the help of inter vehicle communication but the other ones cannot do that. The purpose of this study is to control the vehicle platoon safely without causing collision or reverse running I this case. First case is the suddenly deceleration of the lead vehicle in the platoon. Second is the overtaking of the platoon vehicles for the individual vehicle. The simulation and the experimental results showed that the proposal algorithms could control the vehicles without collision with the other vehicles and running backwards, while maintaining control of the platoon.