Longitudinal control of intelligent vehicle based on hybrid automata model

Based on the analysis of longitudinal control scenarios, a longitudinal control model of the intelligent vehicle in virtue of hybrid automata is built. Driving situations are divided into cruise control, speed following, inter-vehicle distance adjustment modes. Three corresponding control strategies are proposed depending on the driving modes. Then an algorithm of the longitudinal controller is designed. Not only is the following control of the target vehicle in the same lane achieved, but also, when the target vehicle changed, the following control of the new target vehicle is achieved through the control strategies of inter-vehicle distance adjustment. Simulation results show that the designed strategy can achieve a variety of scenarios in both high-speed driving and low-speed stop-and-go situations.