Vehicle Evasion Trajectory Control Under Stability Constraints
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Solution Overview
Problem
Existing collision mitigation and autonomous emergency braking systems have limited capabilities in detecting and avoiding objects on the trajectory of a vehicle to prevent or mitigate collisions with objects.
Innovation Solution
A method for determining an evasion trajectory for a vehicle to evade one or more objects by recognizing objects in a predicted trajectory, calculating lateral evasion distances, and selecting an ideal evasion trajectory based on safety distances and vehicle stability, which can be displayed or assisted by the vehicle's control unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle steers away from a detected object to avoid collision, then collision avoidance capability is improved, but vehicle stability deteriorates
Solution Approach 1:
The evasion trajectory is dynamically adjusted based on real-time parameters including vehicle speed, object distance, and relative position. The system continuously recalculates the optimal trajectory during the evasion maneuver, transitioning from a static avoidance path to a dynamic adaptive path that maintains vehicle stability while achieving collision avoidance.
Solution Approach 2:
The system changes multiple parameters simultaneously to resolve the contradiction: steering angle is adjusted to evade the object while lateral acceleration is constrained within stability thresholds, and the trajectory curvature is optimized to balance avoidance effectiveness with vehicle stability maintenance throughout the maneuver.
2Reliability
If the vehicle takes a wider evasion path to ensure safety distance from the object, then collision avoidance reliability is improved, but additional travel distance increases
Solution Approach 1:
The system dynamically adjusts the lateral evasion distance parameter based on object type, detection distance, and vehicle speed. For stationary objects, a larger safety margin is applied, while for moving objects, the system calculates an optimized distance that accounts for relative velocity, thereby minimizing additional travel while maintaining adequate safety margins.
Solution Approach 2:
The system applies partial evasion distance adjustment based on risk assessment - using minimal necessary deviation for low-risk scenarios and excessive deviation for high-risk scenarios, optimizing the balance between safety and travel efficiency rather than applying a fixed conservative margin in all cases.
Data Source
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AI summary
A method for determining an evasion trajectory for a vehicle (1) to evade one or more objects (8, 9), the method comprising the steps: a) recognizing a first object (8) in a predicted trajectory (10) of the vehicle (1), b) determining a lateral evasion distance left (65) with respect to the first object (8), c) determining a lateral evasion distance right (66) with respect to the first object (8), d) selecting the smaller one of the lateral evasion distance left (65) and lateral evasion distance right (66) as a first ideal lateral evasion distance, and e) determining a first ideal evasion trajectory (91) on which the vehicle (1) passes the object (8) depending on the first ideal lateral evasion distance.