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

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Abstract

Traditional research on automatic lane change has primarily focused on high-speed scenarios and has not considered the dynamic state changes of surrounding vehicles. This paper addresses this problem by proposing a trajectory planning method to enable automatic lane change at medium and low speeds. The 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 stability. The 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.

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Abbreviations

SV:

Self-vehicle

VFS:

Front vehicle in the same lane

VFT:

Front vehicle in the target lane

VRT:

Rear vehicle in the target lane

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Authors and Affiliations

  1. School of Automotive Studies, Tongji University, Shanghai, 200092, China

    Yangyang Wang, Xiaolang Cao & Yulun Hu

Authors
  1. Yangyang Wang
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  2. Xiaolang Cao
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  3. Yulun Hu
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Correspondence to Yangyang Wang.

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The authors declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article. The author(s) received no financial support for the research, authorship, and/or publication of this article.

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Academic Editor: Quan Zhou

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Wang, Y., Cao, X. & Hu, Y. A Trajectory Planning Method of Automatic Lane Change Based on Dynamic Safety Domain. Automot. Innov. 6, 466–480 (2023). https://doi.org/10.1007/s42154-023-00224-5

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