Integrated lane⁃changing model of decision making and motion planning for autonomous vehicles

Decision-making and motion planning are the crucial modules of autonomous vehicles. Focusing on the driving parameter relationship between decision making module and motion planning module，and the dynamic characteristics of new hybrid traffic flow，lane-changing model of autonomous vehicles was established. The decision-making process of lane-changing of autonomous vehicles was described by Stackelberg game theory，and the game cost function is quantified by negative exponential function. The decision results of the autonomous vehicle were taken as one of the inputs of the motion planning module. Polynomial was used to describe the lateral and longitudinal trajectories of the vehicle，and simulated annealing algorithm was used to find the optimal trajectory. The simulation results show that the proposed decision programming model can quickly generate safe，comfortable and feasible trajectory. © 2023 Editorial Board of Jilin University. All rights reserved.