Lane-changing and overtaking trajectory planning for autonomous vehicles with multi-performance optimization considering static and dynamic obstacles

Affected by the complex traffic environment, lane-changing and overtaking have become daily driving operations of autonomous vehicles, and providing a drivable trajectory is one of the critical tasks of planning processes. To this end, this paper aims to propose an optimization-algorithm-based double quintic polynomial trajectory planning model considering static and dynamic obstacles for lane-changing and overtaking maneuvers of the autonomous vehicle. Firstly, an improved double quintic polynomial planning model considering different motion states and sizes of obstacles is constructed by introducing the lane change transition state to ensure the autonomous vehicle's driving safety. Secondly, a multi-objective performance function considering various influencing factors is established to improve the driving performances of the autonomous vehicle during lane-changing and overtaking. Finally, a particle swarm optimization (PSO) algorithm is used to optimize parameters of the proposed planning model, such as the lane change time, transition speed, and longitudinal displacement, to generate a driveability trajectory that meets the driving safety, comfort, stability, and low emission requirements of the autonomous vehicle during lane-changing and overtaking. The effectiveness and advantages of the proposed planning model are verified by comparing it with several existing planning models under different driving conditions.