Journal of South China University of Technology(Natural Science) >

2024 , Vol. 52 >Issue 4: 104 - 113

DOI: https://doi.org/10.12141/j.issn.1000-565X.230339

Traffic Safety

Lane-Changing Trajectory Planning Strategy for Autonomous Vehicles on Superhighways

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  • 1.College of Civil Engineering and Transportation, Northeast Forestry University, Harbin 150040, Heilongjiang, China
    2.Key Laboratory of Road Structure and Material Transportation, Chang’an University, Xi’an 710061, Shaanxi, China
何永明（1979-），男，博士，副教授，主要从事超高速公路和道路交通仿真研究。E-mail:hymjob@nefu.edu.cn

Received date: 2023-05-22

  Online published: 2023-10-17

Supported by

the Natural Science Foundation of Heilongjiang Province(LH2023E011)

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Abstract

To improve the driving safety of autonomous vehicles on superhighways, this paper proposed a lane-changing trajectory planning strategy. Firstly, five polynomials were used to generate general lane-changing trajectory clusters, and the trajectory planning problem was quantified as the duration of solving lane-changing behavior with the limit of vehicle dynamics and surrounding traffic vehicles. Then, considering the constraints of vehicle dynamics, the vehicle dynamics model and Brush tire model were established. Based on the tire lateral force data of the established vehicle model, the tire lateral stiffness was solved, and the magic tire model was used to verify the tire lateral stiffness. Next, the phase plane of sideslip angle and yaw rate was introduced to obtain the safe driving envelope of high-speed vehicle. CarSim simulation training was carried out on given multiple groups of vehicle speeds and adhesion coefficients to determine the shortest lane-changing time that meets the vehicle dynamics constraints. Finally, considering the collision avoidance constraints with surrounding traffic vehicles, three typical lane-changing scenarios were analyzed. The shortest and longest lane-changing durations satisfying the collision avoidance requirements were determined based on the position of single obstacle vehicle, and the threshold model of lane-changing duration satisfying the safe lane-changing requirements was established. The multi-parameter safety lane-changing domain test shows that the established vehicle safety lane-changing duration boundary model can solve the safe and feasible lane-changing trajectory under the given parameters, provide trajectory reference for the superhighway lane-changing behavior, and improve the safety of the superhighway lane-changing behavior.

Key words： autonomous driving; cornering stability; trajectory planning; superhighway; modeling and simulation

Cite this article

HE Yongming, XING Wanyu, WEI Kun, et al . Lane-Changing Trajectory Planning Strategy for Autonomous Vehicles on Superhighways[J]. Journal of South China University of Technology(Natural Science), 2024 , 52(4) : 104 -113 . DOI: 10.12141/j.issn.1000-565X.230339

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