This paper develops a cooperative adaptive cruise control (CACC) model based on the intelligent driver model (IDM), which incorporates the communicative information of both the leading vehicle and the immediate predecessor. Then, the linear stabilities of the proposed model are theoretically analyzed and numerically simulated. The result shows that compared to models proposed by previous studies, the improvement of traffic flow stability is obtained by taking into consideration the communicative information of the leading vehicle in our paper. The numerical simulations also verify the theoretical results, which indicates the proposed CACC model benefits for linear stability.