Longitudinal controlling is one of the most important and basic controls of autonomous driving. In this work, we will introduce an algorithm which gives rise to a model of vehicles used for basic collision avoiding which can be realized based on CVIS system. We will first give a brief introduction of the background. Then we will describe the process and results of modeling, where vehicles are represented as waves and its amplitude represents the possibility of having collisions at a certain point. In the end, we will provide several ways of refining the basic model, with which the model can be used for almost all road traffic scenes. From simulation results, we can see that this model has features as follow: basic safety requirements satisfied, which means the model is plausible; highly adaptive to sceneries and vehicles. In conclusion, this model has a potential application value.

CICTP