Abstract
Background:: The condition that vehicles are prone to skidding during emergency lane changing, an anti-rollover constraint is added to the trajectory planning. Methods:: The evaluation index is constructed by the lateral load transfer rate LTR, so as to put forward a seventh-order polynomial trajectory planning method considering the anti-rollover. It improves the safety and stability of the planned trajectory of the intelligent vehicle when changing lanes in an emergency. The risk assessment index under different emergency lane changing modes is obtained through simulation tests, the phase plane method is used to classify the risk level and formulate a reasonable risk decision-making mechanism. A patented model for risk assessment considering the risk of instability is designed. Results:: The tests conducted on a low-friction road show that when the risk assessment factor is in the range of the steering lane change mode intervals, the steering controller maneuvers the vehicle to make an emergency lane change with a seventh-order polynomial trajectory. Conclusion:: The small fluctuation of the LTR verifies the feasibility of the model.
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