Abstract: Cyber-physical system (CPS) is a complex system that integrates computing system,communication system,perceptual system,control system and physical system.Its running is a kind of hybrid behavior that discrete computing process and continuous physical process are closely interacted and deeply integrated.Concerning this feature,hybrid Petri net is used for modeling CPS and on this basis adding the time constraint,in other words,adding time delay to discrete places and adding a function of velocity to continuous places.At the same time,the concept of inhibitor arcs and test arc are introduced to improve the expression ability of Petri net.A new model called extended hybrid Petri Net was proposed.Then obstacles avoidance for unmanned vehicle system was modeled,according to some rules,the models were converted into corresponding Simulink models.Through the simulation of Matlab,the dynamic behaviors and attributes of systems were analyzed.

Key words: CPS,Hybrid Petri net,Simulink/Stateflow