A trajectory planning based on safe distance model considering driving style

The traditional intelligent vehicle lane researches have insufficient consideration of the driver’s factors to make it unable to meet the personalized needs of different types of drivers, this article integrates the driving style into the safe distance model and trajectory planning to meet the personalized change of the driver’s personalized lane change requirements. First, based on the existing safety distance model, this article integrates the safety coefficient that reflects the characteristics of the driver into the relative static distance of the two vehicles, and then obtains a safe distance model that meets the driving habits of drivers in different styles. Secondly, we use five polynomial trajectory planning to plan a trajectory that conforms to the driving style. Under the same working conditions, as the driver’s cautiousness increases, the lane change trajectory and the minimum longitudinal displacement of the lane change become longer. Finally, Carsim and Simulink are used for joint simulation. The simulation results show that the safety distance model considering driving style designed in this paper is more in line with the driver s style. During the change of lanes, the yaw angle and transverse acceleration of the vehicle are smaller, which meets the safety and comfort of the trail, and at the same time meets the driver’s personalized lane change needs.