A mandatory lane changing decision making and planning under emergency situation


 By considering a mandatory lane changing as a collision avoidance measure, this paper presented the corresponding lane change decision making and trajectory planning algorithm under emergency scenario. Different from the traditional algorithm in which lane change decision making and trajectory planning are separated, the lane change decision making and trajectory making are coupled in proposed algorithm and the related parameters are dynamically adjusted in whole process. In addition to lane change collision avoidance feasibility analysis, lane change time instance and duration time is obtained by solving the constrained convex quadratic optimization program. By taking lane change time instance and duration time as inputs, the algorithm then proceeded to propose a kinematic model based high-order polynomial lane change trajectory. By giving the simulation result compassion with the related algorithm, it is proved that the proposed algorithm has a good robustness and high efficiency.