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

Shuai Zhang; Yonghai Wang; Yi Hu

doi:10.1117/12.2668764

16 February 2023 Lane-change trajectory planning method for driverless vehicles based on trajectory prediction

Shuai Zhang, Yonghai Wang, Yi Hu

Proceedings Volume 12591, Sixth International Conference on Traffic Engineering and Transportation System (ICTETS 2022); 1259126 (2023) https://doi.org/10.1117/12.2668764
Event: 6th International Conference on Traffic Engineering and Transportation System (ICTETS 2022), 2022, Guangzhou, China

Abstract

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.

Citation Download Citation

Shuai Zhang, Yonghai Wang, and Yi Hu "Lane-change trajectory planning method for driverless vehicles based on trajectory prediction", Proc. SPIE 12591, Sixth International Conference on Traffic Engineering and Transportation System (ICTETS 2022), 1259126 (16 February 2023); https://doi.org/10.1117/12.2668764

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