Trajectory Planning for Automated Lane-Change on a Curved Road for Collision Avoidance

Connected and automated vehicles (CAVs) are gaining momentum, especially in the potential to improve road safety and reducing energy consumption and emissions. Lane-change maneuver is one of the most important conventional parts of automated driving. We address the problem of optimally CAVs to accomplish an automated lane-change and eliminate potential collision during the lane-change process on a curved road. Drivers’ safety, comfort, convenience, and fuel economy are also engaged in trajectory planning. We assume that the centripetal motion displacement and the rotational angular displacement meet the requirement of odd-order polynomial constrains. Then, the polynomial coefficient of the trajectory can be reduced and the mathematical model of virtual trajectory for lane-change can be designed based on the models of centripetal displacement and angular displacement by applying the above constrains and boundary conditions. The planning problem are converted into a constrained optimization problem using the lane-change time, distance and desired state of vehicle at the start and end of the lane-change maneuver. Moreover, we update the optimization trajectory to avoid the collision until the lane-change is completed. The simulations results demonstrate the feasibility and effectiveness of the designed method for automated lane-change.