We propose a risk-aware crash mitigation system (RCMS), to augment any existing motion planner (MP), that enables an autonomous vehicle to perform evasive maneuvers in high-risk situations and minimize the severity of collision if a crash is inevitable. In order to facilitate a smooth transition between RCMS and MP, we develop a novel activation mechanism that combines instantaneous as well as predictive collision risk evaluation strategies in a unified hysteresis-band approach. For trajectory planning, we deploy a modular receding horizon optimization-based approach that minimizes a smooth situational risk profile, while adhering to the physical road limits as well as vehicular actuator limits. We demonstrate the performance of our approach in a simulation environment.

翻译：我们提出了一种风险感知碰撞缓解系统（RCMS），用于增强现有任意运动规划器（MP）的功能，使自动驾驶车辆能够在高风险场景下执行避险机动，并在碰撞不可避免时最大限度降低碰撞严重程度。为保障RCMS与MP之间的平滑切换，我们提出了一种新型激活机制，该机制将瞬时碰撞风险评估与预测性碰撞风险评估策略统一整合至迟滞带框架中。在轨迹规划方面，我们采用基于模块化滚动时域优化的方法，在满足道路物理限制及车辆执行器约束的前提下，最小化平滑态势风险剖面。通过仿真环境验证了该方法的有效性。