The invention discloses a following vehicle control method for vehicle-vehicle coordinated information uncertainty. In the vehicle-vehicle coordinated environment, the vehicle control in the followingstate needs to consider the uncertainty of motion state information. The specific process includes collecting GPS and inertial navigation data of a vehicle, estimating the motion state data of the vehicle including position, velocity and acceleration by Kalman joint filtering to obtain the approximate distribution and using the Monte Carlo method to calculate the uncertainty of the safety evaluation index under the following condition and the approximate distribution to further control the vehicle.