<p>This paper proposes a distributed model predictive control (DMPC) algorithm for heterogeneous vehicles platoon systems subject to switching topologies and communication delay. The switching behavior is described by Markov chains and the delay has the characteristics of time-varying and upper bound. For each vehicle, a compensation strategy is designed to modify the neighbor state information received from a time-varying set of neighbors. Then, corrected state information is used to formulate the optimal control problem with self-deviation and corrected information constraints incorporated to ensure stability. By defining a common Lyapunov function based on a joint neighbor set, the mean-square internal stability of the closed-loop system is achieved through establishing sufficient condition related to the weight matrices of the cost function and the transition probability of communication topologies. Numerical simulations on some typical traffic scenarios are conducted to verify the effectiveness of the proposed DMPC algorithm.</p>