With the rapid development of intelligent electric vehicles, the technology of lane-changing trajectory planning has become one of the pivotal issues. However, intelligent vehicles have problems of unsafety and conservation, especially in the complex traffic environment such as high speed and emergency collision avoidance, which ignores the dynamic behavior mechanism of the nonlinear system. In this paper, the lane-changing trajectory model is developed based on quintic polynomial; the global feasible region is determined by environmental constraints and stability region constraints; the trajectory multi-objective optimization is carried out based on TOPSIS algorithm; the results of simulation and experiment finally show the feasibility of the trajectory planner.
Lane-changing Trajectory Planning of Intelligent Electric Vehicle based on Stability Region
2022-10-28
7217394 byte
Conference paper
Electronic Resource
English
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