Trajectory planning for lane changing of intelligent vehicles under multiple operating conditions
(1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China)
Abstract：To ensure the feasibility and safety of lane changing for intelligent vehicles on structured roads, the trajectory planning was investigated under multiple operating conditions. For simple barrierfree lane changing, a newly modified cosine transformation model was proposed to make the path curvature continuous with smooth transition. When there were traffic vehicles in the driving path with needing to avoid obstacles, a polynomial was used to describe the trajectory for lane changing. The selection of boundary conditions was based on the evaluation indicators. The trajectory of traffic vehicle was predicted by the double five polynomial programming to avoid the traffic vehicle. For lane changing in a curve, polynomial methods were also used. Considering the transformation of coordinates, the boundary conditions were obtained based on the initial coordinate system. The simulation results show that compared with the existing algorithms，the proposed trajectory planning methods have excellent performance of lane changing in efficiency, comfort, safety and other indicators.
2019, Vol. 40 
