Research on Lane Changing Trajectory Planning of Commercial Vehicles in Curves Under the Scene of Expressway

With the popularization of intelligent vehicles, the safe driving of vehicles has been paid more and more attention. In this paper, aiming at the characteristics of large mass, high centroid and easy instability of commercial vehicles, combined with the curved scene of expressway, the lane change trajectory of commercial vehicles is planned. The B-spline curve is superior to Bezier curve and polynomial curve planning. According to the characteristics of curve lane change, considering the road constraint problem, the control points of B-spline curve are selected. The model predictive controller is designed for the target vehicle by planning a curve lane changing trajectory that conforms to the dynamic characteristics of the vehicle. Using Matlab/Simulink and Trucksim to build a joint simulation scenario, the planned trajectory is tracked. The results show that commercial vehicles can track the trajectory safely and efficiently for lane change.