Taking advantage of the rapid development of vehicle control and communication technologies, many studies have suggested that operating vehicles in platoons in the future would help improve the safety and efficiency of the transportation system. Although vehicles in a platoon can share data from V2/V communication, a platoon model built on proper control laws is needed to keep the formation of the vehicle fleet and take the real advantage in platoon operations in an environment encompassing different pavement, roadway, and tire conditions. This research introduces a platoon model using a headway-based distance control policy to maintain stability and reduce errors in inter-vehicle spacing. After defining the stability condition and estimating the model parameters, simulation runs are carried out to show that the proposed model is able to keep a small inter-vehicle spacing, follow leader vehicle’s speed, and adjust for changes in acceleration by all the vehicles in the platoon under the influence of vehicle characteristics and roadway frictions.