Abstract: Studying on the lane changing process of intelligent vehicles, a new lane changing algorithm based on the use of polynomials is presented. This algorithm uses the rectangles for target vehicle and obstacle vehicles representation, combines the target vehicle’s states and polynomial theory to generate lane changing trajectory. The lane changing trajectory generated by this algorithm meets the requirements of four-phase lane changing model and can apply to complex road environment. New algorithm simplifies the calculation of a desired and achievable trajectory that in complex road environment to selection of a single coefficient. Dynamic constraints are also taken into account. Simulation result proves the correctness and feasibility of this algorithm. Illustrative examples show the advantage of this new algorithm especially in the case of lane changing with multiple obstacles.

Key words: intelligent vehicle, lane changing, trajectory planning, polynomial

摘要： 以智能车辆换道过程为研究对象，提出一种基于多项式理论的车辆换道轨迹规划算法。该算法采用矩形对换道车辆及障碍车辆进行包裹，结合换道车辆的边界条件由以时间为参数的多项式计算得到换道轨迹。由该算法生成的换道轨迹符合四段式车道变换模型，并适用于复杂道路环境。新算法将复杂道路环境中期望换道轨迹的求取问题转换为单一参数求取问题，简化了计算，同时考虑了车辆动力学限制对生成轨迹的影响。计算机仿真验证了算法的正确性及有效性，尤其是在复杂路面情况下体现了该换道轨迹规划算法的优势。

关键词: 智能车辆, 换道, 轨迹规划, 多项式