Comfort-Based Intelligent Vehicle Trajectory Planning in High-Speed Scenarios

Abstract

Abstract To solve the situation of uncomfortable feelings for drivers and passengers during the lane-changing(LC) process of autonomous vehicles in high-speed scenarios, the trajectory of quintic polynomial planning is effectively optimized. Through the analysis of the fifth-degree polynomial equation and the transverse force coefficient in the process of vehicle driving, and optimal trajectory is constructed with the constraints of the LC time and the relevant comfort indexes of the vehicle LC process, transverse angular velocity, transverse acceleration, and transverse acceleration as the constraints. Finally, the simulation scene is constructed by Prescan, and the nonlinear planning toolbox in MATLAB was employed to ascertain the unknown parameters, thereby determining the optimal lane change time and trajectory. The results show that the trajectory planning meets the vehicle LC requirements under real-world conditions, demonstrating good maneuvering stability and fulfilling the comfort criteria for the LC process.