Abstract: Vehicle-vehicle communication(v2v) has become an important means for intelligent vehicles to obtain external information, and the communication delay directly affects the accuracy of the received information.In order to reduce the adverse effect of communication delay on the communication link, it is necessary to make some compensation for the delay. This paper first modelling the vehicle motion based on the current statistical model, and then based on the adaptive kalman filter model, the vehicle motion state is predicted, and then the delay compensation algorithm is used to compensate the received information.At last, the delay compensation algorithm is simulated by Matlab software, and the simulation results show the effectiveness of the proposed algorithm.