基于紧急变道策略的汽车主动避障安全车距模型

s the basis of determining the safe driving situation of the vehicle, and the fundamental of active risk avoidance control, the determination of the safety distance is one crucial part of the automotive collision warning/collision avoidance (CW/CA) system. Based on the optimal trajectory planning strategy, an obstacle avoidance solution was proposed by means of longitudinal velocity adjusting and emergency lane change movement. The safety distance model based on emergency lane-change vehicle motion was put forward, and the influence from the different vehicle speed adjusting time on vehicle trajectory and safety distance was analyzed. The validity of the model was demonstrated by the simulation results for statistics obstacle avoidance situation.