Lane-changing Trajectory Planning Considering Mitigation of Lane-changing Impact on Surroundings

Abstract:

This paper proposes a novel lane-changing trajectory planning algorithm that could mitigate lane-changing impact. We introduce the intelligent driver model（IDM ）to construct the optimization objective of the surrounding vehicles， and we employ the quintic polynomial model to formulate the optimization objective of the lane-changing vehicle. Thereafter， we introduce the multiobjective optimization algorithm to solve the multi-objective problem， as a result， we obtain the pareto-optimal front of the lane-changing vehicle and the surrounding vehicles. Our experiments demonstrate that in comparison with the existing algorithms， our algorithm can significantly reduce the total cost of all vehicles within the region and improve the traffic flow operation state.

Key words:automated lane-changing;trajectory planning;multiobjective optimization algorithm;IDM model