关键词: 自动驾驶车辆；轨迹规划；模糊控制；权重系数

Abstract: Vehicle lane change is a common traffic scene, this paper obtains the trajectory of autonomous vehicles based on five polynomials, and uses a fuzzy controller to dynamically adjust the weight coefficient of the evaluation function, so as to select the optimal trajectory according to the actual conditions. The simulation results show that compare with the traditional fixed weight coefficient trajectory planning method, under the working conditions with a large collision risk, the trajectory planning based on fuzzy change can be reasonably adjuste to adjust the weight vertical safety, planning a reasonable change trajectory with higher efficiency and smaller collision risks to adapt to the current conditions.

Key words: Autonomous vehicle; Trajectory planning; Fuzzy control; Weighting coefficien