Controller for urban intersections based on hybrid automaton

In this paper, the problem of crossing the inter-sections is studied. A controller is designed based on a hybrid automaton. The design procedure is presented into two cases. The problem of crossing with one automatic car and one manual car from intersection is studied in case one. The safe crossing (i.e. fixing safe distance between two automatic car)of two automatic cars is studied in case two. Simulation is done by the model which is identified by the real data from the car Citroen C3. Simulation results show the efficiency of the controller in both cases.