Research on Decision-Making and Planning Method for Intelligent Highway Lane-Changing System for Mass Production

The auto-lane change on highways is an important feature of the Advanced Driver Assistance System（ADAS）. The current algorithms are unable to balance lane-changing safety and smoothness under low com⁃ putational hardware conditions. To solve the problem，a decision-making and planning method for auto lane-chang⁃ ing system on highways is proposed in this paper. Lane-changing decisions are made by dividing the lane changing collision risk into hierarchical danger zones，followed by the implementation of decoupled lateral and longitudinal planning. In the lateral planning，a two-stage fifth-order polynomial trajectory planning is designed to enhance safe⁃ ty and smoothness during the lane changing process. In the longitudinal planning，a PID-like algorithm is employed to enhance real-time planning for cruising conditions，while the Model Predictive Control（MPC）based on synchro⁃ nized predictive time domains is employed for following conditions. By associating the lateral and longitudinal plan⁃ ning times to improve lane-changing smoothness，the design of cost function reduces computational complexity to meet low resource requirements. Through real vehicle comparison tests，this method has been validated to have high level of safety，smoothness，and user experience in various highway lane changing scenarios. Additionally，compari⁃ son results of static area storage and peak stack storage tests for the algorithm's resource utilization show a low hard⁃ ware resource occupancy rate，meeting the requirements of low-computing-power controllers in terms of resource utilization. © 2024 SAE-China. All rights reserved.