Collision avoidance trajectory planning for intelligent vehicles in emergency conditions

被引：0

作者：

Zhang W. ^{[1
]}

Zhang S.-P. ^{[1
]}

Luo C.-E. ^{[1
]}

Zhang S. ^{[1
]}

Wang G.-L. ^{[1
]}

机构：

[1] School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang

来源：

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2022年 / 52卷 / 07期

关键词：

emergency conditions; intelligent vehicle; trajectory planning; transportation system engineering;

D O I：

10.13229/j.cnki.jdxbgxb20210118

中图分类号：

学科分类号：

摘要：

The mandatory stability constraints of the existing trajectory planning methods lead to insufficient utilization of the vehicle's collision avoidance potential. This makes it impossible to plan an effective collision avoidance trajectory for intelligent vehicles under certain critical conditions. Aiming at this practical problem，this paper proposes the concept and definition method of emergency conditions，and based on the optimal control theory，integrates nonlinear vehicle dynamics model，stability domain information and environmental information，and considers the saturation constraints of the vehicle steering actuator to develop a method for planning the collision avoidance trajectory of intelligent vehicles under emergency conditions. The simulation results show that this method can accurately plan the safe collision avoidance trajectory when the vehicle is in a critical steady state under emergency conditions，and it has good applicability on different roads，which provides strong theoretical support for the development of collision avoidance control systems for intelligent vehicles. © 2022 Editorial Board of Jilin University. All rights reserved.

引用

页码：1515 / 1523

页数：8

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