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

摘要： 随着当前汽车电动化和智能化的快速发展，实现主动避撞控制将是未来智能化汽车的 一项重要技术。目前，汽车纵向制动避撞技术已经比较成熟，而转向避撞技术中的轨迹规划 方法还存在安全性不足、适应性不高等实际问题。文章首先分析了转向避撞的场景特征，再 采用五次多项式作为转向避撞轨迹规划方法，分别讨论车辆横向运动状态和纵向运动速度规 划，最后给出满足碰撞安全和平稳舒适约束条件下的转向避撞轨迹。因此，此研究工作将为 解决转向避撞技术的轨迹规划问题提供新的思路与方法。

关键词: 智能汽车；转向避撞；轨迹规划；安全性约束