| 摘要 |
<p>The application relates to a method and system for collision avoidance for a host vehicle (20). First, input data relating to external objects (22,24,26,28,30,32) is received, said input data including object position (r,¦) and an object velocity (dr/dt). Second, future trajectories for each external object (22,24,26,28,30,32) are determined, considering influence by the future trajectories of the other external objects on each other, e.g. whether there is a risk of collision between external objects causing a possible change in trajectory of an external object. Third, it is checked whether the host vehicle (20) about to exit a lane. If the future trajectory (21) of the host vehicle (20) is involved in a conflicting event in a neighbouring lane, a counter-torque is applied. This helps to avoid collision when doing a lane change. A further step is to associate not one, but several future paths to the detected obstacles and to choose one path which is the most probable.
Preferably, the lane change is permitted if an obstacle is detected in the host vehicle's lane, allowing the driver to avoid said obstacle.</p> |
