Focusing on the influence of actual driving conditions especially the effect of low adhesion road conditions on the dynamic stability of vehicular platoons, an adaptive coordinated control strategy for heterogeneous vehicular platoon is proposed. First, the control model for the individual vehicles involving wheel rotational dynamics is established. The vehicle-wheel speed error is introduced in the platoon following control decision to coordinate the individual vehicle dynamics and platoon dynamics, and the road adhesion coefficient is involved in the spacing strategy design to adapt to the variation of road condition. A coordinated control strategy is designed based on the sliding mode control method aiming to guarantee the individual vehicle dynamics stability and the string stability. It has been proved based on the Lyapunov analysis method that both the spacing error and vehicle-wheel speed error within the vehicular platoon can be uniformly bounded ultimately, and the string stability condition considering individual vehicle dynamics is derived. Finally, the proposed control scheme is evaluated by simulations based on a four-vehicle heterogeneous platoon in high and low adhesion road condition respectively. The results show that the proposed adaptive spacing strategy and coordinated control scheme can ensure the stability of individual vehicles, platoon, and traffic flow in a broad range of operation conditions especially in low adhesion condition by coordinating the individual vehicle dynamics and the platoon dynamics.