中文摘要：

为了提高汽车高速紧急避让行驶安全性,提出一种汽车紧急避让问题求解方法.基于滚动时域混合整数线性规划（RHC-MILP）,通过引入逻辑变量和连续变量的混合形式的线性约束来描述障碍物避让约束,对车辆的动态特性进行线性近似,建立离散时间模型;以整数变量描述车辆和障碍物之间的相对位置,以安全顺利避开障碍物性能指标作为代价函数,建立混合整数规划,并采用滚动时域控制策略进行求解.仿真和实车试验结果表明,该方法能够求解汽车的紧急避让问题,具有求解精度高,求解时间短的优势,并且仿真值和试验值的变化趋势基本一致,从而验证了该方法的正确性和可行性.

英文摘要：

A new technique for vehicle emergency collision avoidance with high speed was proposed to improve driving safety. Based on receding horizon mixed and integer linear programming （RHC-MILP）, the constraints of the vehicle emergency collision avoidance problem were formulated as linear constraints using logic combining continuous variables. The vehicle discrete-time model was presented by approximating the vehicle dynamics performance linearly. Integer variables were used to describe the relative position of the vehicle and obstacles. The safe and smooth emergency coll!ision avoidance performance was determined as the cost function. Then the emergency collision avoidance problem was converted as a MILP problem solved by receding horizon strateg3r. The simulation results show that the proposed method can solve the emergency collision avoidance problem and the optimization accuracy is higher. The correctness and feasibility of the method is verified by real vehicle test.