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Active lane change trajectory planning method for autonomous vehicles in emergency obstacle avoidance situations.

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Title: Active lane change trajectory planning method for autonomous vehicles in emergency obstacle avoidance situations.
Authors: Hu, W. J.1,2 huwenjuan.ky@qq.com, Wu, S. L.1,2, Shen, X. Z.1,2
Source: Advances in Transportation Studies. Special2025, p99-110. 12p.
Subjects: Lane changing, Lagrange equations, Emergency vehicles, Euler equations, LIDAR
Abstract: In this paper, a new active lane change trajectory planning method for autonomous vehicles is proposed to improve the smoothness of the lane change trajectory and the success rate of obstacle avoidance. Firstly, by integrating sensors such as LiDAR and in vehicle cameras, environmental information can be comprehensively perceived. Secondly, analyze the motion status information of the vehicle and the obstacle vehicle, determine the time distance of collision danger, and plan the obstacle avoidance path based on this. Finally, by fitting the starting and ending points with a fifth degree polynomial curve, combined with jump optimization and Euler Lagrange equation, a smooth and comfortable lane change trajectory for autonomous vehicles is generated. The experimental results show that the curvature value of the method proposed in this paper is stable between 0.20 and 0.25, and the highest obstacle avoidance success rate reaches 98.5%. [ABSTRACT FROM AUTHOR]
Copyright of Advances in Transportation Studies is the property of Advances in Transportation Studies and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: <searchLink fieldCode="JN" term="%22Advances+in+Transportation+Studies%22">Advances in Transportation Studies</searchLink>. Special2025, p99-110. 12p.
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  Data: <searchLink fieldCode="DE" term="%22Lane+changing%22">Lane changing</searchLink><br /><searchLink fieldCode="DE" term="%22Lagrange+equations%22">Lagrange equations</searchLink><br /><searchLink fieldCode="DE" term="%22Emergency+vehicles%22">Emergency vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22Euler+equations%22">Euler equations</searchLink><br /><searchLink fieldCode="DE" term="%22LIDAR%22">LIDAR</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: In this paper, a new active lane change trajectory planning method for autonomous vehicles is proposed to improve the smoothness of the lane change trajectory and the success rate of obstacle avoidance. Firstly, by integrating sensors such as LiDAR and in vehicle cameras, environmental information can be comprehensively perceived. Secondly, analyze the motion status information of the vehicle and the obstacle vehicle, determine the time distance of collision danger, and plan the obstacle avoidance path based on this. Finally, by fitting the starting and ending points with a fifth degree polynomial curve, combined with jump optimization and Euler Lagrange equation, a smooth and comfortable lane change trajectory for autonomous vehicles is generated. The experimental results show that the curvature value of the method proposed in this paper is stable between 0.20 and 0.25, and the highest obstacle avoidance success rate reaches 98.5%. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Advances in Transportation Studies is the property of Advances in Transportation Studies and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.53136/97912218205608
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      – Code: eng
        Text: English
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        PageCount: 12
        StartPage: 99
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      – SubjectFull: Lane changing
        Type: general
      – SubjectFull: Lagrange equations
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      – SubjectFull: Emergency vehicles
        Type: general
      – SubjectFull: Euler equations
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      – SubjectFull: LIDAR
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      – TitleFull: Active lane change trajectory planning method for autonomous vehicles in emergency obstacle avoidance situations.
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              M: 07
              Text: Special2025
              Type: published
              Y: 2025
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