Rear-end collision is considered as a very serious problem in the modern traffic situations. For this, there have been a great deal of research reports on the longitudinal control method for road-vehicle. In many works, however, the problem is formulated under platoon configuration and some predictable non-collision situations. In previous works, regional and hierarchical approaches have been employed for the predictable collsion situations. But, both approaches render difficulties such as ignorance for modeling error and logical error in decision process.
In this thesis, two control objectives are considered, i.e., safety distance error and relative velocity. For this, a longitudinal controller is proposed for rear-end collision avoidance using terminal sliding mode and hierarchical approach. In general, terminal sliding mode has a property that it can achieve convergence in finite time. And hierarchical approach has a property that it may contain intelligence of driver and it can handle with many different situations. The decision process in previous works is improved to non-logical error process. The proposed control scheme is verified by simulation and has some advantages with respect to previous works.
