基于蜂窝车联网（Cellular Vehicle-to-Everything，C-V2X）的车辆编队协同控制通信技术，依靠直连通信接口实现车辆间实时信息交互，提升队列行驶的稳定性与效率。本文系统分析 C-V2X 系统架构及其在车辆编队中的应用，探讨从长期演进 - 车辆联网（Long Term Evolution-Vehicle to Everything，LTE-V2X）至新空口 - 车辆联网（New Radio-Vehicle to Everything，NR-V2X）的演进路径；研究协同控制机制的设计与性能验证，评估潜在安全威胁及防护策略。通过整合感知、定位与云控技术，提出优化方案以满足低时延、高可靠的应用需求。研究表明，该技术可降低间距误差、保证串稳定性，为智能交通提供技术支撑。本文进一步讨论通信协议优化与实际部署挑战，强调多模态融合的重要意义，以期推动车辆编队向更高智能化水平发展。

Cooperative control communication technology for vehicle platoons leveraging C-V2X relies on direct communication interfaces to achieve real-time information exchange between vehicles, enhancing the stability and efficiency of platoon driving. This paper systematically analyzes the C-V2X system architecture and its application in vehicle plots, exploring the evolution path from LTE-V2X to NR-V2X. It investigates the design and performance validation of cooperative control mechanisms while evaluating potential security threats and countermeasures. By integrating perception, positioning, and cloud-based control technologies, an optimized solution is proposed to meet lowlatency and high-reliability requirements of cooperative control. Research demonstrates that this technology reduces spacing errors and ensures string stability, providing technical support for intelligent transportation. The paper further discusses communication protocol optimization and practical deployment challenges, emphasizing the significance of multimodal fusion to advance vehicle platooning toward higher levels of intelligence.