Abstract: Truck load variations of the each controlled truck in the traditional truck platoon can easily cause acceleration tracking failures, which affects truck platooning and the safety of the truck platoon. To address the problem, an improved truck underlying control model based on active disturbance rejection control is proposed. First, the upper layer controller is designed based on linear quadratic optimal control. Then the lower controller of the truck is designed, the inverse longitudinal dynamics model is built and the error compensation is made based on the active disturbance rejection control theory to verify the model. Finally, the Trucksim/Smulink co-simulation test is carried out to verify the queue. The results show the underlying control model significantly reduces the acceleration tracking error and fluctuation amplitude, and improves the truck platooning and the safety during each truck’s braking.