This paper focuses on lane-changing trajectory planning and trajectory tracking control in autonomous vehicle technology. Aiming at the lane-changing behavior of autonomous vehicles, this paper proposes a new lane-changing trajectory planning method based on particle swarm optimization (PSO) improved third-order Bezier curve path planning and polynomial curve speed planning. The position of Bezier curve control points is optimized by the particle swarm optimization algorithm, and the lane-changing trajectory is optimized to improve the comfort of lane changing process. Under the constraints of no-collision and vehicle dynamics, the proposed method can ensure that the optimal lane-changing trajectory can be found in different lane-changing scenarios. To verify the feasibility of the above planning algorithm, this paper designs the lateral and longitudinal controllers for trajectory tracking control based on the vehicle dynamic tracking error model. The simulation is carried out in the Carsim-Simulink co-simulation platform. The simulation results show that the trajectory planning method proposed in this paper can ensure the safety and efficiency of lane changing of the vehicle in the process of lane changing, and has better performance in ride comfort.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lane Changing Comfort Trajectory Planning of Intelligent Vehicle Based on Particle Swarm Optimization Improved Bezier Curve


    Additional title:

    Sae Technical Papers


    Contributors:
    Sun, Liyou (author) / Guo, Rong (author)

    Conference:

    SAE 2023 Intelligent Urban Air Mobility Symposium ; 2023



    Publication date :

    2023-12-31




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Lane Changing Trajectory Planning of Intelligent Connected Vehicles Based on Bezier Curve

    Yao, Minkun / Liu, Miaomiao / Wei, Zeping et al. | Springer Verlag | 2024


    Vehicle lane changing trajectory planning method based on five-order Bezier curve

    LIU MIAOMIAO / YAO MINKUN / ZHU MINGYUE | European Patent Office | 2023

    Free access

    Intelligent vehicle autonomous lane changing trajectory planning method

    CHEN LINFENG / WAN YIDONG / WANG RONGJUN et al. | European Patent Office | 2024

    Free access


    Lane change path planning based on piecewise Bezier curve for autonomous vehicle

    Chen, Jiajia / Zhao, Pan / Mei, Tao et al. | IEEE | 2013