Research on the Selection of Intermediate Connection Points for Active Emergency Steering Path Planning

The two-segment polynomial path planning method can avoid collisions by steering under lower Time to Collision (TTC) conditions. The intermediate connection point is an unknown and critical constraint for calculating the analytical solutions of the two polynomial paths, whose position is determined based on the principle of not collision and being closest to obstacles. When encountering emergency scenarios where there is an angle between obstacles and the road, the traditional method of determining the intermediate connection point will become ineffective, as four potential collision risks involving the four corner points of the ego and following vehicles. To solve the problem of the intermediate connection point selection under unusual conditions and broader applicability in special emergency, a method is investigated in this paper. The reference point us identified based on the location of obstacles, the collision risk point on the ego vehicle is then determined, and finally the intermediate connection point is calculated based on the vehicle size data. The simulation result validates the correctness of the intermediate connection point selection method.