Abstract: Aiming at the safety problem of vehicle lane change on the curved section of highway, a lane-change model for emergent collision avoidance is established based on the normal distribution fitting of vehicle lateral velocity, with consideration of human-vehicle-road interaction, and according to the location relation of vehicle collision avoidance, the safety constraint conditions of lane change on curved road are proposed, and the minimum safe distance for vehicle collision avoidance is obtained under the condition of lane change with braking. The results of simulation compared with those with traditional model and 2 DOF vehicle dynamics model show that the model established can accurately describe the lane-change trajectory on curved section and calculate the minimum safe distance for vehicle collision avoidance. The safe lane-change model set up for collision avoidance fully considers the cooperative relationship among human, vehicle and road, providing valuable reference for the research on intelligent vehicle and assisted driving.

Key words: high-speed driving safety, curved section, lane-change model, emergent collision avoidance, minimum safe distance