Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles

Abstract

Lane change is one of the important operations in motion of an autonomous vehicle. When encountering obstacles or wanting to overtake the vehicle ahead, the autonomous vehicle will make a decision and choose the best path to control the trajectory of motion to perform lane change. In this article, we will present solutions for lane change trajectories, including general path setting, building nonlinear models with states of vehicle speed, acceleration and jerk; building a constraint set to avoid collisions with a minimum safe distance model, which takes into account the potentially collision angle positions during lane change. Simulation results are performed in Matlab simulation environment to demonstrate an effective proposed solution and addressed the disadvantages in the modeling process for lane-changing operations, in order to improve the proactive safety of the motion planning for autonomous vehicles.