A model for safe lane changing of connected vehicles based on quintic polynomial Trajectory planning

For the purpose of improving the safety and comfort of lane-changing trajectory planning for future autonomous vehicles and ensure the effectiveness of lane-changing trajectory planning, a safe lane-changing model based on quintic polynomial trajectories is established in this paper. Firstly, the lane-changing scene is classified and modeled, and the lane-changing trajectory in complex environment is analyzed, and the lane-changing process is divided into two stages. Secondly, the lane-changing safety distance model is established, and the calculation method of the safety distance during the lane-changing process is given. Finally, a lane changing scene under complex road conditions is designed, and a simulation experiment is carried out. The lane-changing trajectories given by the model proposed in this paper are proved to be effective and comply with the safety and comfort constraints, which provide certain guiding significance for the lane-changing trajectory planning of autonomous vehicles in the real world.