Vehicle following control under a rational initial state

To study the control problem of vehicle following system with a rational initial state is of greater practical significance than that with an irrational initial state. The Petri net is used to describe the state transition diagram of vehicle following control system with a rational initial state after vehicle following control model is constructed. An integrated control method, including the velocity-difference control based on dynamic safety following distance, the inter-vehicle distance control for efficiency improvement based on hyperbolic function and the emergency stopping control for collision avoidance, under their respective conditions, is presented for the establishment of a safe and efficient steady-following state. The numerical results show that the presented control method can be used by the following vehicle to adapt its own behavior in safety and efficiency to the preceding vehicle’s behavioral change, and lead vehicle following system with a rational initial state to enter the previous safe and efficient steady-following state or a new safe and efficient steady-following state.