Path Planning and Tracking in Scenario of Emergency Collision Avoidance

Zhou Bing, Wan Xi, Wu Xiaojian, Chen Xiaolong, Zeng Fanyi

Abstract

To consider the problem of collision avoidance and stability when planning the emergency collision avoidance path of lateral lane under high speed scenarios，a path planning algorithm based on non-uniform B-spline curve is proposed，which meets the requirements of multi-constraint. The proposed collision-free path model constructed by two non-uniform B-spline curves has continuous curvature with trapezoidal change and satisfies the slope and curvature constraint at the starting point and end point; and then，the environmental information is combined to generate a collision-avoidance path cluster whose path shape is controlled by two parameters. On this basis，a passenger comfort objective function is constructed，aiming to select a local path with the best comfort from the path cluster when the collision avoidance requirement is met. Furthermore，the objective function and multi-constrains of the vehicle are used to obtain the optimized longitudinal acceleration so as to complete the collision avoidance motion planning. Finally，the model predictive control (MPC) algorithm specialized in multi-constrained problem is selected to develop a linear time-varying MPC controller，and the feasibility of the proposed path planning method is verified.

 

 

Keywords:  emergency collision avoidance,  non-uniform B-spline curve,  path planning,  multi-constraint,  path tracking



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