Cooperative Lane Change Trajectory Planning for Connected Dual Vehicles Based on Safety Domains and Risk Fields

Abstract:

To address the decision conflict and trajectory planning coupling issues arising from the spatio-temporal overlap of predefined intentions between vehicles during lane-changing scenarios on highways for intelligent connected vehicles （ICVs）， a collaborative trajectory planning method incorporating a three-stage screening process was proposed. Firstly， a quintic polynomial was employed to generate the combined trajectory solution space for both vehicles.Secondly， a hyperbolic tangent function was utilized to establish an elliptical safety boundary model for the initial trajectory screening. Thirdly， integrating the risk field theory with lateral and longitudinal impact intensity， a total risk function was constructed for the secondary theory screening. Finally， by combining vehicle dynamics constraints with a multi-objective lane-change cost function， overall trajectory combinations were evaluated to select the optimal combination. Two-vehicle lane-change simulation results demonstrate that under both normal and emergency lane-change scenarios， the proposed algorithm reduces lane-change costs compared to traditional risk assessment methods and effectively balances safety and comfort， which provides a reference for developing cooperative decision-making algorithms for connected vehicles.