The present invention provided a sliding mode of trajectory voting strategy modules. The modules utilize sliding mode control integrating a reaction time and a braking distance into an obstacle feature of sliding surface, combining a fuzzy theory to estimate the obstacle feature sliding surface and a road curvature, for obtaining an orientation angle of safety paths.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
CN	Intelligence and safety	獲證	CN104670222B	2017/07/25~2033/11/29