Research on Intelligent Vehicle Trajectory Planning for Lane Changing Cases
Lane changing is an important working condition for intelligent vehicles in actual traffic conditions.In order to im-prove the safety of intelligent vehicles on the expressway,the influence on the movement of surrounding traffic vehicles on the main-tenance of the lane changing distance of the vehicle was analyzed.The fifth-order polynomial function was used to plan the lane changing trajectory,and the longitudinal acceleration of the vehicle was used to collide with the preceding vehicle.Time span and vehicle velocity after lane change were the optimization variables of lane change optimization function.Using the friction circle of the vehicle dynamics model to constrain the lateral and longitudinal acceleration,a lane changing model was established.Final-ly,MATLAB/Simulink and CarSim were used to simulate and analyze the obtained lane changing trajectory.The results show that the lane changing trajectory planning method can ensure the comfort and safety of the smart vehicle when changing lanes.
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