Abstract:

An evasive manoeuvre was designed based on typical vehicle-pedestrian use case to help drivers
to get rid of the collision when a pedestrian crosses the road suddenly. A typical vehicle-pedestrian use case
was obtained from 500 risk cases collected from daily driving. According to the characteristics of this typical
risk case, a kind of scenario was built for the development of strategy. A fifth order polynomial was used to plan
a reasonable path for collision avoidance to ensure pedestrian safety. An evasive manoeurve for emergency
steering situation was built based on the combination of feed-forward control strategy and feedback control
strategy to keep the vehicle following the reference path. Combined with a vehicle handing model with two
freedom degrees, the practicability, accuracy and robustness of the manoeurve was verified by a united
simulation in Matlab/Simulink and Carsim environment. The results show that the performance of the steering
strategy acts well when tracking the reasonable reference path so as to avoid the collision between vehicle and
pedestrian.

Key words: automobile active safety, naturalistic driving, risk use cases, emergency steering assistance, path planning, evasive manoeuvre