<p>This article addresses the problem of the human-in-the-loop (HiTL) platooning control for vehicular platoon systems with disturbances and unknown nonlinearities via the prescribed-time approach. The HiTL factors are considered in the vehicular platoon systems to deal with some urgent situations where the tracking signal is transmitted through a non-autonomous leader and all the following vehicles are unaware of the leader’s control inputs. Firstly, an interval observer is designed for each vehicular tracking error dynamic system to obtain the interval estimate values with consideration of the effects of the disturbances, unknown nonlinearities and the input of the leader in the system, and these factors are considered as unknown inputs (UIs), which result in the controller design difficult and even degrade the system performance. To reduce the effects of the UIs, a new prescribed-time unknown inputs reconstruction (PT-UIR) algorithm based on the interval observer is proposed, which is capable of estimating the UIs within the prescribed time. Further, a prescribed-time tracking control strategy is designed with the help of error transformations and backstepping technique. Compared with the existing literature, both the designed reconstruction algorithm and the control strategy are prescribed-time convergent. Finally, the effectiveness of the proposed control scheme is verified by simulations with comparisons.</p>