Segmented trajectory planning strategy for active collision avoidance system

Abstract

This paper presents a segmented trajectory planning strategy for active collision avoidance system. Considering the longitudinal and lateral movement of the obstacle vehicle, as well as the ego vehicle and obstacle outer contour limitations, the collision avoidance trajectory is divided into three segments: lane changing, overtaking and back to original lane. The starting point and end point of lane-change are decided based on longitudinal and lateral safety distance model according to the relative speed and distance as well as the outer contour of the two vehicles. Based on system objective function and lane-change trajectory cluster, vehicle states, dynamic constraints and vehicle body kinematics constraints, the optimal trajectory can be selected, which can monitor the relative location of the obstacle vehicle constantly and then ensure the vehicle can accomplish the collision avoidance safely and smoothly. Simulation and experiment results demonstrate the effectiveness and feasibility of proposed trajectory planning strategy for the active collision avoidance.