关键词: 智能汽车；转向避撞；轨迹规划；安全性约束

Abstract: With the rapid development of vehicle electrification and intelligence, the active collision avoidance control will be an important technology for intelligent vehicles. At present, The Technology of the vehicle longitudinal Braking to avoid collision is relatively mature, but the trajectory planning method in steering collision avoidance technology still has some practical problems, such as insufficient safety and low adaptability. In this paper, the scene characteristics of steering collision avoidance are firstly analyzed, then the quintic polynomial is used as the trajectory planning method for steering collision avoidance, and the lateral motion state and longitudinal motion speed planning of the vehicle are discussed respectively. Finally, the steering collision avoidance trajectory under the constraints of crash safety, stability and comfort is given. Therefore, the research work of this paper will provide a new idea and method to solve the trajectory planning problem of steering collision avoidance technology.

Key words: Intelligent vehicle; Steering collision avoidance; Trajectory planning; Security constraint