Lane-change is a common and dangerous condition in the process of vehicle driving. Especially in the multi-vehicle environment, the relative safety between lane-change vehicles and surrounding vehicles is very important. In this paper, a lane-change trajectory planning method based on quintic polynomial is proposed by considering the trajectory prediction results of surrounding vehicles. Firstly, by fusing the driving state of the vehicle, the lane-change trajectory cluster is obtained by using the quintic polynomial programming method, and the stability boundary of the trajectory cluster is obtained according to the three-degree-of-freedom dynamics model of the vehicle. Then, in order to get a relative in trajectory cluster environment vehicle safety of lane-change trajectory, we assume that the information data of surrounding vehicles is available, according to different location of the vehicle, to establish a different objective function, to evaluate different lane-change trajectory of the vehicle relative security, according to the objective function to solve trajectory optimal solution in the cluster. Finally, the co-simulation based on MatLab and CarSim verifies the reliability of the proposed lane-change trajectory planning method.


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    Title :

    Lane-change trajectory planning method for driverless vehicles based on trajectory prediction


    Contributors:
    Zhang, Shuai (author) / Wang, Yonghai (author) / Hu, Yi (author)

    Conference:

    Sixth International Conference on Traffic Engineering and Transportation System (ICTETS 2022) ; 2022 ; Guangzhou,China


    Published in:

    Proc. SPIE ; 12591


    Publication date :

    2023-02-16





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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