The invention discloses an autonomous vehicle queue control method that effectively prevents engine output overloads; the method comprises the following steps: carrying out dynamics analysis for vehicle motions, building a vehicle dynamics model, wherein the model is a non-linear model; using a V2V mode to realize information transmission between vehicles, wherein the information includes position, speed and acceleration speed, each vehicle can exchange information only with a front vehicle and a vehicle behind, thus forming a vehicle queuing system in a cascaded mode; designing a saturation function to limit the output of the engine, forming a new overload error signal, further designing a saturation error feedback control law, and preventing error accumulation caused by the engine outputoverloads; finally using the designed saturation error feedback control law and an adaptive control technology to realize the autonomous vehicle queue control method, and effectively preventing the engine output overload problems.