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International Journal of Automotive Technology
Erschienen in:

27.09.2024 | Vehicle Dynamics and Control, Other Fields of Automotive Engineering

A Novel Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Improved APF and RRT Algorithm

verfasst von: Shuen Zhao, Yao Leng, Maojie Zhao, Kan Wang, Jie Zeng, Wanli Liu

Erschienen in: International Journal of Automotive Technology | Ausgabe 2/2025

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Abstract

To satisfy multi-objective requirements of the dynamic lane-changing trajectory planning (DLTP) for autonomous vehicles, a novel DLTP method based on the improved artificial potential field (APF) and rapidly exploring random tree (RRT) algorithm is proposed. The problem of lane-changing trajectory planning can be decoupled into trajectory shape planning and speed planning. First, the Frenet coordinate system is employed to transform the planning trajectory on curved roads to that on straight roads. Second, based on sinusoidal obstacle avoidance lane-changing, the potential field of virtual obstacle points at the road boundary is established by integrating information on the position and state of surrounding vehicles. The improved APF algorithm is utilized to plan the shape of the lane-changing trajectory. Then, the motion states of surrounding vehicles are mapped to the obstacle region in the space–time graph, transforming speed planning into a path-searching problem. The efficiency of the RRT algorithm is improved by increasing the heuristic information of the lane-changing endpoint and the multi-objective constraints of the random sampling region. Finally, simulation results validate that the proposed method can plan a smooth lane-changing trajectory, effectively avoid collisions with surrounding vehicles, and ensure real-time stability of the lane-changing process.
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Metadaten
Titel
A Novel Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Improved APF and RRT Algorithm
verfasst von
Shuen Zhao
Yao Leng
Maojie Zhao
Kan Wang
Jie Zeng
Wanli Liu
Publikationsdatum
27.09.2024
Verlag
The Korean Society of Automotive Engineers
Erschienen in
International Journal of Automotive Technology / Ausgabe 2/2025
Print ISSN: 1229-9138
Elektronische ISSN: 1976-3832
DOI
https://doi.org/10.1007/s12239-024-00153-0

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