Abstract： Due to the variability and complexity of the traffic environment, a dynamic lane-changing trajectory planning algorithm based on virtual safety boundary was proposed to meet the requirements of safety and comfort in lane-changing process. Considering the coupling of lane change end time and longitudinal position, the quartic and quintic mixed polynomial lane-changing trajectory algorithms were used for vertical and horizontal planning, and the lane change time and the longitudinal speed range were respectively determined to obtain the candidate lane-changing trajectory. The vehicle motion state constraint and the anti-collision constraint based on virtual safety boundary were designed, and the cost functions of vehicle lane-changing safety, comfort and car following benefit were constructed. The weight coefficients of each cost function were dynamically adjusted based on the threshold of safety cost function, and the candidate lane-changing trajectory was optimized by fmincon function. Considering the effect of the surrounding vehicle motion state change on the lane-changing process, the vehicle system circularly called the lane-changing trajectory planning module to update the lane-changing trajectory in real time until the vehicle reached the target position. The results show that for different lane-changing conditions, by the intelligent vehicle dynamic lane-changing trajectory planning algorithm based on virtual safety boundary, the collision with surrounding vehicles can be effectively avoided in the lane-changing process, and the safety of intelligent vehicle lane-changing process is ensured.
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