A remote control strategy for vehicles in Intelligent Vehicle Highway System (IVHS) is considered. An optimal scheduling of a limited communication channel is proposed for lead vehicle control in a platoon. The optimal scheduling problem is to find the optimal communication sequence that minimizes the cost obtained inherently by an optimal control without the communication constraint. In this paper, the PID control law which guarantees the string stability is used for the lead vehicle control. The fact that the PID control law is equivalent to the approximately linear quadratic tracker allows to obtain the performance measure to find an optimal sequence. Simulations are conducted with five maneuvering platoons to evaluate the optimality of the obtained sequence.