The vehicle to everything (V2X) communication of intelligent and connected vehicles faces uncertainties such as random latency and packet loss. These issues pose safety challenges. This paper proposes a closed-loop integrated strategy that combines perception, decision-making, and control. A communication uncertainty metric is established based on recent packet loss rate and average delay. A three-state machine (cooperative cruise mode, perception uncertainty mode, and local safety mode) is designed to adjust the control strategy based on a preset uncertainty threshold. A proportion integration differentiation (PID) controller ensures safe car following. MATLAB simulations under high uncertainty show that the proposed method guarantees that the following distance always satisfies the dynamic safety criterion (a time headway of 1.5 s plus a standstill gap), whereas the fixed-strategy baseline fails under high uncertainty, significantly outperforming a fixed-strategy baseline. This method is computationally efficient and can be deployed on embedded devices. Simulation results validate the effectiveness of this approach in handling V2X communication uncertainties.