Mandatory lane-changing decision making and planning in emergency situations

Abstract By considering mandatory lane-changing as a collision avoidance measure, this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario. Different from traditional in which are separated, they here coupled proposed related parameters dynamically adjusted whole process. In addition to feasibility analysis, time instance duration obtained by solving constrained convex quadratic optimization programme. taking inputs, then proceeded propose kinematic model-based high-order polynomial lane change trajectory. giving simulation result compassion with algorithm, it is proved that has good robustness high efficiency.