Abstract: A vehicle following control method is proposed under the condition that every element in the system could only get relative local information. Lyapunov theorem is used to analyze the stability of this system and a sufficient condition of stability is given. Furthermore, in order to increase the scalability of the vehicle following system, speed constraint is added in the proposed control method. A micro vehicle following system including five micro smart cars is built in the micro traffic environment to verify the control method. The simulation and experiment results indicate that vehicle following system can move stably and position disturbance propagation can be avoided.