A method for controlling a convoy including a pilot vehicle and a driverless vehicle is presented. It includes electronically tethering the driverless vehicle to the pilot vehicle by establishing communication between a pilot vehicle control module and a driverless vehicle control module. It further includes receiving a longitudinal control user input in the pilot vehicle control module and communicating a longitudinal motion request from the pilot vehicle control module to the driverless vehicle control module, the longitudinal motion request being indicative of the longitudinal control user input. It finally includes controlling a propulsion and braking system of the driverless vehicle in response to the longitudinal motion request received from the pilot vehicle and controlling a propulsion and braking system of the pilot vehicle, while tethered to the driverless vehicle, to maintain a target longitudinal clearance from the driverless vehicle.