Technical Paper
A Dynamic Lane-Change Trajectory Planning Algorithm Based on Minimum Safe Spacing
2021-01-07
2020-01-5110
As one of the key technologies in automatic driving, trajectory planning for automated lane change should not only take into account the complex and dynamic driving environment at the beginning of the lane change but also on the whole process. However, most existing researches only consider other vehicles’ initial states and assume they do not change. But this may cause potential collisions because the vehicles’ running states vary at all times in a real situation. One important reason that causes this problem is that the lane-change vehicle cannot acquire accurate information regarding the other vehicles. However, this situation can be effectively improved with the development of vehicle-to-vehicle communication in recent years.