Abstract
<div class="section abstract"><div class="htmlview paragraph">This paper focuses on lane-changing trajectory planning and trajectory tracking
control in autonomous vehicle technology. Aiming at the lane-changing behavior
of autonomous vehicles, this paper proposes a new lane-changing trajectory
planning method based on particle swarm optimization (PSO) improved third-order
Bezier curve path planning and polynomial curve speed planning. The position of
Bezier curve control points is optimized by the particle swarm optimization
algorithm, and the lane-changing trajectory is optimized to improve the comfort
of lane changing process. Under the constraints of no-collision and vehicle
dynamics, the proposed method can ensure that the optimal lane-changing
trajectory can be found in different lane-changing scenarios. To verify the
feasibility of the above planning algorithm, this paper designs the lateral and
longitudinal controllers for trajectory tracking control based on the vehicle
dynamic tracking error model. The simulation is carried out in the
Carsim-Simulink co-simulation platform. The simulation results show that the
trajectory planning method proposed in this paper can ensure the safety and
efficiency of lane changing of the vehicle in the process of lane changing, and
has better performance in ride comfort.</div></div>