District control strategy for vehicle collision avoidance based on hybrid automaton model

In this paper, we employ the hybrid automata theory combined with the longitudinal dynamics model of autonomous vehicle for model to solve collaborative problems between vehicles at intersections. By virtue of order-preserving property of the model, we can divide the danger zone on the displacement coordinate plane of the two vehicles depending on the speed of the two vehicles, and take different measures according to the region. Furthermore, we introduce the market mechanisms in specific areas in order to improve the efficiency of collaboration. The effectiveness of the proposed algorithm is demonstrated by means of simulation, which is taken in a typical cross intersection and autonomous vehicle at different initial situations.