A Pragmatic Dynamic Lane-changing Trajectory Planning Model for Autonomous Vehicles

Abstract

Automatic lane change is a complex and essential part of autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focused on avoiding obstacles, but few studies have focused on the issue of dynamic lane change. Moreover, existing dynamic lane-changing models were based on some certain assumptions. Considering that the actual road is not a complete straight line and the function of the road cannot be accurately established, this paper establishes a cubic polynomial path planning model based on discrete global trajectory points. Then, in order to ensure the trajectory’s safety, comfort and efficiency, an all-sided trajectory optimization function is proposed. At last, simulation verifications are carried out. Results show that the proposed method can generate a splendid lanechanging trajectory.