In this work, we present an application of symbolic control and contract based design techniques to vehicle platooning. We use a compositional approach based on continuous-time assume-guarantee contracts. Each vehicle in the platoon is assigned an assume-guarantee contract; and a controller is synthesized using symbolic control to enforce the satisfaction of this contract. The assume-guarantee framework makes it possible to deal with different types of vehicles and asynchronous controllers (i.e controllers with different sampling periods). Numerical results illustrate the effectiveness of the approach.