A Trajectory Planning Method of Automatic Lane Change Based on Dynamic Safety Domain

作     者：Yangyang Wang Xiaolang Cao Yulun Hu 

作者机构：School of Automotive StudiesTongji UniversityShanghai 200092China 

出 版 物：《Automotive Innovation》 (汽车创新工程(英文))

年 卷 期：2023年第6卷第3期

页      面：466-480页

核心收录：

学科分类：08[工学] 082304[工学-载运工具运用工程] 0837[工学-安全科学与工程] 080204[工学-车辆工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0823[工学-交通运输工程] 

主　　题：Automatic lane change Dynamic safety domain Trajectory planning Autonomous driving 

摘      要：Traditional research on automatic lane change has primarily focused on high-speed scenarios and has not considered the dynamic state changes of surrounding *** paper addresses this problem by proposing a trajectory planning method to enable automatic lane change at medium and low *** method is based on a dynamic safety domain model,which takes into account the actual state change of surrounding vehicles,as well as the upper boundary of the safety domain for collision avoidance and the lower boundary of comfort for vehicle *** proposed method involves the quantification of the safety and comfort boundaries through parametric modeling of the vehicle.A quintic polynomial trajectory planning method is proposed and evaluated through simulation and testing,resulting in improved safety and comfort for automatic lane change.