Lane change decision planning for autonomous vehicles

This article constructs a simplified lane-changing scene model. Frequent lane-changing in actual driving scenarios will reduce driving safety and comfort. This article uses a gain function to analyze the generation of lane-changing intentions and rely on the minimum safety distance formula to judge The risk of changing lanes. When the relevant conditions are met, the vehicle executes the lane-changing action, otherwise it continues to maintain the car following state. In this paper, the lane-changing trajectory is generated based on the general model of the fifth degree polynomial, and the relatively optimal lane-changing trajectory is selected by calculating the value of the loss function. Finally, it is verified and analyzed through the MATLAB simulation environment. The results show that the method proposed in this paper has achieved a significant improvement in the safety and stability of the lane changing action.