Multi-level decision framework collision avoidance algorithm in emergency scenarios

Most of the collision avoidance strategies in recent years only consider steering or braking. The dynamic and complex nature of the driving environment presents a challenge to developing robust collision avoidance algorithms in emergency scenarios. To address the complex, dynamic obstacle scene and improve lateral manoeuvrability, this paper establishes a multi-level decision-making obstacle avoidance framework that employs the safe distance model and integrates emergency steering and emergency braking to complete the obstacle avoidance process. This approach helps avoid the high-risk situation of vehicle instability that can result from the separation of steering and braking actions. In the emergency steering algorithm, we define the collision hazard moment and propose a multi-constraint dynamic collision avoidance planning method that considers the driving area. Simulation results demonstrate that the decision-making collision avoidance logic can be applied to dynamic collision avoidance scenarios in complex traffic situations and improving the safety of autonomous driving.