Technical Paper
Multi-lane Lane Change Decision and Trajectory Planning of Vehicle Based on Logic Regression Algorithm and Gaussian Probability Density Model
2022-12-22
2022-01-7070
Aiming at the trajectory planning of autonomous vehicles in lane changing under muti-lane traffic scenarios, a multi-lane lane change decision and trajectory planning algorithm based on Logic Regression Algorithm and Gaussian Probability Model is proposed. Firstly, the target state (time and velocity) of vehicle during lane change is sampled and lateral trajectory (5th polynomial) and longitudinal trajectory (4th polynomial) are planned based on the target state; Secondly, cost evaluation function of trajectory is established and optimal trajectory is selected based on three aspects of safety, comfort and lane changing time.
