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The problems of traffic congestion, car accident and fuel scarcity can be relieved by forming vehicular platoon with small inter-vehicle spacing, where vehicles transmit their position, velocity and acceleration profiles via wireless communication networks. However, unavoidable and heterogeneous communication delays in reality among vehicles become a challenging problem in the controller design process. This study presents a decoupled control method for a vehicular platoon with heterogeneous communication delays and sampled data, which are closer to the real world. Directed graphs are adopted to describe the information flow of connecting automated vehicles. By designing the state estimator, the influence of communication delays that bring the state errors can be eliminated. The complex coupled platoon control system is decoupled through the eigenvalue decomposition of information topology and the linear transformation of the whole system.