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In this thesis, we study the interaction of a single vehicle with a platoon. More specifically, we consider the case in which the gap between two vehicles in the platoon has to be expanded and then reduced. This facilitates a single vehicle to change lanes, enter into the expanded gap, and leave after a while. As a first step, we review the literature of platoon formation, tracking of a reference velocity as well as of a spacing policy. Secondly, we formulate the problem by defining a list of specifications that our controller will have to satisfy in order to safely expand and reduce the gap within the platoon. Then, we present some of the spacing policies we encountered in the literature review in more detail and compare their corresponding controllers. Lastly, we design our longitudinal controller by combining two of the previously presented control laws and show by means of simulations that the gap expansion and reduction successfully takes place while meeting all the other specifications. We conclude the thesis by summarizing our results and by giving an insight into possible future directions.