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This paper describes a headway distance control system for platoon driving on an automated highway system (AHS). The system implemented on a test vehicle is described first, followed by a description of a vehicle control method based on the use of throttle and brake actuators. This method makes it possible to obtain the target acceleration and deceleration regardless of the vehicle speed range and the rate of acceleration or deceleration. Experimental and simulation results obtained with this method are presented. A control method is then described that uses inter-vehicle communication and laser radar to maintain a constant headway between vehicles. The results of simulations and driving tests conducted with three vehicles are presented to illustrate that the use of inter-vehicle communication is highly effective in improving headway control performance.