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Title: Multi-level decision framework collision avoidance algorithm in emergency scenarios

Authors: Guoying Chen; Xinyu Wang; Min Hua; Wei Liu

Addresses: State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130022, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130022, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130022, China ' Purdue University, West Lafayette, IN 47907, USA

Abstract: Most of the collision avoidance strategies in recent years only consider steering or braking. The dynamic and complex nature of the driving environment presents a challenge to developing robust collision avoidance algorithms in emergency scenarios. To address the complex, dynamic obstacle scene and improve lateral manoeuvrability, this paper establishes a multi-level decision-making obstacle avoidance framework that employs the safe distance model and integrates emergency steering and emergency braking to complete the obstacle avoidance process. This approach helps avoid the high-risk situation of vehicle instability that can result from the separation of steering and braking actions. In the emergency steering algorithm, we define the collision hazard moment and propose a multi-constraint dynamic collision avoidance planning method that considers the driving area. Simulation results demonstrate that the decision-making collision avoidance logic can be applied to dynamic collision avoidance scenarios in complex traffic situations and improving the safety of autonomous driving.

Keywords: autonomous driving; multi-level collision avoidance decision logic; trajectory planning; collision avoidance.

DOI: 10.1504/IJVD.2024.139186

International Journal of Vehicle Design, 2024 Vol.95 No.3/4, pp.155 - 185

Received: 25 Apr 2023
Accepted: 20 Feb 2024
Published online: 24 Jun 2024 *