Research on Trajectory Planning Model of Lane Changing based on Improved Artificial Potential Field Method

An elliptical influence model of obstacle vehicles was proposed based on the artificial potential field method. The novel mathematical model of lane changing trajectory planning including the lane boundary potential field, the multi obstacle vehicles potential field and the moving target potential field was established to simulate the trajectory planning of intelligent vehicle lane changing under the actual freeway scene. The result shows that the planning trajectory is highly consistent with real one under good lane changing conditions. Furthermore, this kind of the trajectory was introduced into CARSIM software and simulated. The findings show that the actual trajectory is also consistent with the target trajectory. Both the front wheel steering angle and the lateral acceleration were satisfied with the dynamic constraint of vehicle, which has well stability and comfort.