In this paper, we propose a car-following model to ensure the car-following safety, stability, comfort and fuel-optimal with consideration of the driver’s different driving habits under different headways. During the car-following state, the following vehicle’s acceleration is determined by its driving strategy in different headways to fit the driving habits. When the headway is overlong, the following vehicle will shorten the headway by a comfort and fuel-optimal acceleration–uniform motion–deceleration process to ensure the stable car-following behavior. When the headway is too short, the following vehicle take emergency brake to ensure the car-following safety. When the headway is within the desired range, the following vehicle can run at a relatively steady speed since the comfort driving is an important reason for drivers to adopt a new driving behavior. The numerical results show that the proposed model can ensure the safety, stability, comfort, fuel-optimal and the consistency with the driver’s driving habits under the car-following state.