基于安全域与风险场的网联双车协同换道轨迹规划OA

To address the decision conflict and trajectory planning coupling issues arising from the spatio-temporal overlap of predefined intentions between vehicles during lane-changing scenarios on highways for intelligent connected vehicles(ICVs),a collaborative trajectory planning method incorporating a three-stage screening process was proposed.Firstly,a quintic polynomial was employed to generate the combined trajectory solution space for both vehicles.Secondly,a hyperbolic tangent function was utilized to establish an elliptical safety boundary model for the initial trajectory screening.Thirdly,integrating the risk field theory with lateral and longitudinal impact intensity,a total risk function was constructed for the secondary theory screening.Finally,by combining vehicle dynamics constraints with a multi-objective lane-change cost function,overall trajectory combinations were evaluated to select the optimal combination.Two-vehicle lane-change simulation results demonstrate that under both normal and emergency lane-change scenarios,the proposed algorithm reduces lane-change costs compared to traditional risk assessment methods and effectively balances safety and comfort,which provides a reference for developing cooperative decision-making algorithms for connected vehicles.