| EMERGENCY COLLISION AVOIDANCE METHOD WITH MOVING
OBSTACLES BASED ON PIECEWISE POLYNOMIAL |
| Wen He 1,2, Yong Chen 1, Gang Liu 3, Yitao Wu 3, Yonggang Liu 3 |
1School of Automation Engineering, University of Electronic Science and Technology of China
2Changan Automobile Intelligent Research Institute
3State Key Laboratory of Mechanical Transmission & College of Mechanical and Vehicle Engineering, Chongqing University |
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| ABSTRACT |
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As an important part of the advanced driver assistance system (ADAS), the active emergency collision
avoidance system can effectively reduce the incidence of accidents. Previously, static obstacle avoidance has been realized by
employing piecewise polynomial path planning to improve vehicle stability. However, regarding moving obstacles, the
collision avoidance problem becomes more intractable. To address the problem, a novel method based on the technical
framework of piecewise polynomial path planning is proposed in this paper to conduct collision avoidance with moving
obstacles. First, the Multivariate Gaussian Distribution model is adopted to estimate the velocity of the obstacle ahead, and
the longitudinal motion trajectory of the obstacle is calculated. Then, the longitudinal length of the first target path is selected
by the rule-based method. Moreover, yielding from the method for static obstacles, the collision avoidance algorithm for
moving obstacles is proposed. Finally, the co-simulations are carried out in Simulink/CarSim, of which the results prove that
the proposed method can avoid the moving obstacle effectively. |
| Key Words:
Collision avoidance, Path planning, Piecewise polynomial method, Advanced driver assistance system
(ADAS) |
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Corresponding Author.
Yong Chen , Email. 
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