In order to solve the problem of unstable cooperative control caused by unsatisfactory Vehicle-to-Vehicle (V2V) communication environment in the process of vehicle formation lane change, a cooperative control method combining Deep Deterministic Policy Gradient (DDPG) and Model Predictive Control (MPC) is proposed. Firstly, a non-ideal V2V communication model including delay, noise interference and random interruption is constructed based on the wireless channel fading theory. Then, the multi-agent DDPG algorithm is optimized, and a multi-dimensional reward function including communication quality index, lateral tracking deviation and other factors is designed to output the future reference trajectory under collaborative decision-making. Finally, smooth steering angle and acceleration control sequences are generated and executed based on MPC. The simulation results show that compared with the traditional method, the formation spacing error and lateral tracking error of the proposed method are reduced by 59.11% and 48.81% respectively in the communication delay environment. In the scenario of communication interference and interruption, the lane change success rate of this method is increased by 16.73% at most, which can maintain the stability of vehicle formation and realize safe lane change.