PATH PLANNING FOR EVASIVE STEERING MANEUVER IN PRESENCE OF TARGET VEHICLE AND SURROUNDING OBJECTS

摘要

A method for calculating a virtual target path around a target object that includes providing scan points identifying detected objects and separating the scan points into target object scan points and other object scan points. The method identifies a closest scan point from the target object scan points and identifies a path point that is a predetermined safe distance from the closest scan point. The method determines a straight target line adjacent to the target object that goes through the path point, and determines a distance between the target line and each of the other objects and determines whether all of the distances are greater than a predetermined threshold distance. The method identifies curve points for each other object whose distance is less than the predetermined threshold distance, and identifies a curve path that connects the curve points to be the virtual target path using a quadratic polynomial function.

主权项

1. A method for determining a virtual target path that is used to calculate an evasive steering path for a subject vehicle around a target object in a travel path of the subject vehicle, said method comprising:
providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle; separating the plurality of scan points into target object scan points received from the target object and other object scan points received from other objects if they exist; identifying a closest scan point from the target object scan points that is the scan point that is the closest to the subject vehicle; identifying a path point that is a predetermined safe distance from the closest scan point; determining a straight target line adjacent to the target object that goes through the path point and is parallel to a direction of the travel path of the subject vehicle before the subject vehicle follows the evasive steering path; determining whether the plurality of scan points include the other object scan points; making the evasive steering path the straight target line if no other object scan points exist; determining a distance between the target line and each of the other objects identified by the other object scan points if other object scan points do exist; determining whether all of the distances are greater than a predetermined threshold distance; making the evasive steering path the straight target line if all of the distances are greater than the threshold distance; identifying curve points for each other object whose distance is less than the predetermined threshold distance, where each curve point is a predetermined safe distance from the target object and the other object; and identifying a curved path that connects the curve points to be the virtual target path.