System and method for collision avoidance maneuver path determination with jerk limit

摘要

In a vehicle, an optimal path curvature limited by one or more constraints may be determined. The constraints may be related to lateral jerk and one or more vehicle dynamics constraints. Based on the optimal path curvature, an optimal vehicle path around an object may be determined. The optimal vehicle path may be output to a collision avoidance control system. The collision avoidance control system may cause the vehicle to take a certain path.

主权项

1. A method for performing a vehicular, collision avoidance maneuver comprising:
using a processor in the vehicle to determine a travel path from sensor data responsively to detection of a threshold distance between a vehicle and an object, the travel path having a series of path segments defined by alternating cubic and quadratic polynomial equations,
wherein each of the cubic equations has a second derivative whose slope defines a trajectory curvature rate constraint,wherein each of the quadratic equations has a second derivative whose constant value defines a trajectory curvature limit,
wherein lateral position y and longitudinal position x are measured from a center of gravity of the vehicle such that:a first path segment of the series of path segments is defined as:y1⁡(x)=a1⁢x36,x∈[0,x1],whereina1=ηmaxV3,wherein ηmax is lateral acceleration rate constraint and V is vehicle longitudinal velocity;
a second path segment of the series of path segments is defined as:y2⁡(x)=b2⁡(x-x1)22+c2⁡(x-x1)+d2,x∈[x1,x2],wherein d2=⅙a1x13, c2=½a1x12, and b2=a1x1;
a third path segment of the series of path segments is defined as:y3⁡(x)=a3⁡(x-x2)36+b3⁡(x-x2)22+c3⁡(x-x2)+d3,x∈[x2,x3],wherein d3=½b2(x2−x1)2+c2(x2−x1)+d2, and c3=b2(x2−x1)+c2, b3=b2, and a3=−a1;
a fourth path segment of the series of path segments is defined as:y4⁡(x)=b4⁡(x-x3)22+c4⁡(x-x3)+d4,x∈[x3,x4],wherein d4=⅙a3(x3−x2)3+½b3(x3−x2)+c3(x3−x2)+d3, c4=½a3(x3−x2)2+b3(x3−x2)+c3, and b4=a3(x3−x2)+b3;
a fifth path segment of the series of path segments is defined as:y5⁡(x)=a5⁡(x-x4)36+b5⁡(x-x4)22+c5⁡(x-x4)+d5,x∈[x4,x5],wherein d5=½b4(x4−x3)2+c4(x4−x3)+d4, c5=b4(x4−x3)+c4, b5=b4,and a5=a1; and
guiding the vehicle in accordance with the series of path segments.