Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on technology mainly focus avoiding obstacles; however, few studies have accounted dynamic lane changing based some certain assumptions, such as the speed constant or terminal state known in advance. In this study, typical scenario developed with consideration of preceding lagging vehicles road. Based local trajectory generated by global positioning system, path planning model are respectively established through cubic polynomial interpolation. To guarantee driving safety, passenger comfort efficiency, comprehensive optimization function proposed according to model. addition, decoupling solve problems real-time application provide viable solutions. The simulations real validations conducted, results highlight that method can generate satisfactory automatic actions.