A Collision Avoidance Strategy Based on Inevitable Collision State

This paper proposed a collision avoidance strategy that take over the control of ego vehicle when faced with urgent collision risk. To improve the applicability of collision avoidance strategy in complex scenarios, the theory of ICS (Inevitable Collision State) is introduced to evaluate the collision risk and compute the trigger flag of the system, and vehicle dynamic is taken into account when modeling ego vehicle to predict ego vehicle’s following moving. Vehicle specific characteristics including reaction time of the braking system and the braking force increasing process are taken into account. In order to reduce injury caused by collision accidents and minimize disruption to drivers, slight steering is added on top of emergency braking. The direction of the steering angle is determined according to IM (Imitating Maneuvers) The flow chart of the strategy is presented in the paper. Considering the more serious danger and higher mobility of scenarios involving VRU (Vulnerable Road Users), two typical scenarios involving VRU are built to test the effectiveness of the strategy. To make the scenarios more representative, Euro NCAP testing standard is referenced and an analysis on real collision accidents data is taken into account. Simulation results support that strategy based on ICS is effective in scenarios involving VRU and that slightly steering is effective in reducing injury and disruption to the driver.