Lane Change Trajectory Planning Based on Quadratic Programming in Rainy Weather

Abstract

To enhance the safety and stability of lane change maneuvers for autonomous vehicles in adverse weather conditions, this paper proposes a quadratic programming−based trajectory planning algorithm for lane changing in rainy weather. Initially, in order to mitigate the risk of potential collisions on wet and slippery road surfaces, we incorporate the concept of road adhesion coefficients and delayed reaction time to refine the establishment of the minimum safety distance. This augmentation establishes constraints on lane change safety distances and delineates the boundaries of viable lane change domains within inclement weather contexts. Subsequently, adopting a hierarchical trajectory planning framework, we incorporate visibility cost functions and safety distance constraints during dynamic programming sampling to ensure the safety of vehicle operation. Furthermore, the vehicle lane change sideslip phenomenon is considered, and the optimal lane change trajectory is obtained based on the quadratic programming algorithm by introducing the maneuverability objective function. In conclusion, to verify the effectiveness of the algorithm, lateral linear quadratic regulator (LQR) and longitudinal double proportional−integral−derivative (DPID) controllers are designed for trajectory tracking. The results demonstrate the algorithm’s capability to produce continuous, stable, and collision−free trajectories. Moreover, the lateral acceleration varies within the range of ±1.5 m/s2, the center of mass lateral deflection angle varies within the range of ±0.15°, and the yaw rate remains within the ±0.1°/s range.

Keywords

• rainy weather
• quadratic planning
• lane change trajectories
• multi−objective functions