Abstract：To solve the problems of excessive lateral acceleration and discontinuous trajectory curvature in intelligent vehicle lane changing trajectories, the trajectory planning method based on the quintic polynomial lane changing model was proposed according to the comparative analysis of traditional vehicle lane changing models. Based on the requirements for safety and efficiency of lane changing trajectories, an objective function was designed with lateral acceleration, lane changing time and vehicle yaw rate as optimization variables. The optimal lane changing time was solved from the objective function to obtain the optimal lane changing trajectory. The simulation experiment was conducted to compare the constant velocity offset plus sine function lane changing model with the quintic polynomial lane changing model. The results show that according to the trajectory planning method of the quintic polynomial lane change model, when the road adhesion coefficient is 0.2, the maximum lateral acceleration is 0.45 m/s2, and the maximum curvature of the trajectory is 2.02×10-3 m-1. When the road adhesion coefficient is 0.6, the maximum lateral acceleration is 0.70 m/s2, and the maximum curvature value is 1.12×10-3 m-1. When the road adhesion coefficient is 0.8, the maximum lateral acceleration is 0.81 m/s2, and the maximum curvature value is 0.90×10-3 m-1. The acceleration and curvature of the trajectory curve of the lane change model are less than those of the constant velocity offset plus sine function, which can verify the effectiveness of the model.
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2023, Vol. 44 
