Vehicle platooning is an effective way to improve the efficiency and safety of transportation systems, in which a group of vehicles maintains a moving pattern by minimizing the tracking error of each vehicle. In this paper, a joint optimiza tion of radio resource allocation for kinetic status information transmission and platoon control is considered under resource constrained conditions to maintain the targeted inter-vehicle spacing. The formulated problem is approximately solved by the decomposition method, where the radio resource allocation and the platoon control are considered alternatively in two stages. In the first stage, a tracking error based scheduling strategy is presented for radio resource allocation. In the second stage, the control inputs of each vehicle are optimized based on the model predictive control (MPC). Simulation results show that the proposed scheme can achieve the objective of platoon control while having a low tracking error compared with other scheduling strategies.