This paper describes the design and implementation ofthe cooperative vehicle platoon (CVP), which is a three-yearforesight project founded by ITRI. CVP has the potential toimprove traffic flow by reducing the gap between two cars andimprove the driving safety by automatically driving of followingvehicles. A longitudinal controller that uses informationexchanged via vehicle-to-vehicle (V2V) communications withfollowing vehicles to achieve string-stable driving is developed inthe first year. The controller is integrated into three-wheelmotorcycles; including positioning system, communication system,millimeter radar, computer vision and human–machine interface.Highly modular system architecture enabled rapid developmentof the various subsystems beginning in Feb. 2014.