<p>This paper proposes a cooperative game platoon model based on vehicle spacing, which aims to make the overall income of the platoon and the income between individual vehicles more fair and reasonable. The Shapley value is introduced as the solution of the cooperative game and is applied to allocate the platoon spacing. Under typical conditions, the proposed method is compared with the time-interval strategy. At the same time, the vehicle platoon behavior uses non-cooperative game behavior decision-making. In the case of vehicle insertion in front, the platoon predicts its lane change intention based on the driving track ahead, carries out a complete information dynamic game and compares it with the complete information static game decision-making without prediction. The joint simulation results of Carsim and Matlab/Simulink show that the spacing strategy based on cooperative game theory improves the longitudinal tracking stability. The vehicle platoon judgment of a dynamic game with complete information through predicting the intention of lane change is superior to the decision-making behavior of a non-cooperative game without prediction.</p>