Motion Trajectory Planning Method of Lane Change for Intelligent Vehicle

The motion planning method of lane change for intelligent vehicle is an important component in the autonomous vehicle field. In order to make the intelligent vehicle drive on the urban environmental road smoothly when there is a barrier in the front, a new curvature-continuous obstacle avoidance trajectory planning method was introduced. The trajectory planning method based B-spline curves and the convex hull property of the B-spline curves is used. The effection of several nonholonomic constrained conditions is considered in this method. The nonholonomic constraints include obstacle avoidance constraint, curvature constraint, rotational speed constraint, speed constraint, state constraint and so on. The intelligent vehicle’s lane change reference trajectory is generated, the trajectory is collision-free and the curvature is continuous. The intelligent vehicle’s lane change simulation experiment was done to test the trajectory planning method. The result showed that the feasible trajectory can be generated by use of this article’s method. The curvature of the trajectory is continuous and every nonholonomic constraint condition was met.