The observed reality, named the phenomenon, is subject to our knowledge. In science the knowledge is expressed by models. A model is an abstraction, an approximation, of the reality which purpose is to explain this reality with concepts. All approximations are subjective i.e. the analyst will decide which are the important aspects of the phenomenon and which aspects are to be eluded. Different approximations (models) can be constructed for particular phenomena. If the analyst is precise he will underline the eluded aspects by mentioning the hypothesis which supports its model. It is important to mention that even if we do “our best” the model well remain an approximation. Usual the model prediction are corrected by measuring.

Measuring (observing) and modeling is a fundamental dipole in scientific knowledge. This will be reflected in the autonomous car control strategy. The reason of modeling is the a priori information i.e. the prediction of the phenomenon effects before their manifestation.

The model can be seemed like an object with associated properties and methods. From the set of approximations we can imagine a succession which is related to the Object Orientated paradigm, models (objects) which inherit parts of properties and methods. This is a strategy that we will use in the model construction. More precisely we will describe a set of models starting with a simple model and developing it to more and more accurate models i.e. we will elude les and les.

The proposed models will become objects which are subject to programs (in Matlab).