ABSTRACT
As one of automotive safety technologies, the authors have proposed the autonomous frontal obstacle avoidance system, which recognizes a frontal obstacle such as a pedestrian, predicts the location of collision based on the obstacle motion and avoids it by autonomous evasive steering. In addition, to respond to the change of the motion of the obstacle, an updating method of avoidance trajectory has been proposed. However, since the updating method does not take into account the road boundary, if the distance to the road boundary is not enough, the avoidance trajectory collides with the road boundary. In this paper, the authors solve this problem by deriving avoidance trajectory which accommodate to the road boundary and propose a method to choose the appropriate avoidance trajectory during avoidance action. Then, the newly proposed system is verified by numerical simulations. The results show that the newly proposed system is effective.
