A method and an emergency avoidance system for performing a avoidance operation with a utility vehicle combination

摘要

The present invention relates to a method for performing an evasive operation (AWM) with a commercial vehicle trailer combination (100) - determining whether a collision is imminent between the commercial vehicle trailer combination 100 and the impact object 200; Determining an avoidance path (AT_0) when a collision is detected; Determining the required steering angle based on the avoidance path AT_0 and determining the required steering angle based on the determined desired vehicle angle so that the commercial vehicle trailer combination 100 moves along the avoidance path AT_0 from the departure lane to the target lane Driving the active steering system in dependence on the steering angle; - determining the required vehicle deceleration and initiating the electronic braking system in dependence on the required vehicle deceleration to brake the commercial vehicle trailer combination 100 while the avoidance operation is being performed. According to the present invention, the lateral acceleration aLat of the commercial vehicle trailer combination 100 is determined while the avoidance operation is performed, The required steering angle is such that the lateral acceleration aLat is limited when it achieves or exceeds the maximum lateral acceleration aLatMax and / The required vehicle deceleration is provided so as to limit the maximum required vehicle deceleration if the total acceleration aTot of the commercial vehicle trailer combination 100 achieves or exceeds the maximum total acceleration aTotMax.