| 摘要 |
A method and an arrangement are provided for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision, using an arrangement comprising processing means (1) and at least one of a sensor system (2) or a communication system (3), where the method including the steps of identifying (101) the positions of one or more external objects in relation to the host vehicle H within a predefined distance, generating (102) a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of external objects, removing (103) any trajectories intersecting with any one of the external objects, estimating (104) lateral position, lateral velocity, lateral acceleration and the lateral jerk that will act on the host vehicle H driving along any one of the trajectories, and selecting (105) the trajectory for which the lateral jerk acting on the host vehicle H is minimized. |
