关键词: 自动驾驶；Frenet 坐标；弯道处换道；轨迹规划；轨迹跟踪；Matlab/Simulink

Abstract: At present, the autonomous driving system of vehicles has less involvement in curve road conditions. Based on Frenet coordinate system, aiming at the lane changing strategy of autonomous vehicles at curves, this paper proposes a trajectory-planning algorithm for handling dynamic obstacles with transverse and longitudinal decoupling. It solves the problem that the traditional coupling planning is difficult to take into account the curve fitting efficiency and safety. The transverse planning is based on the quasi-uniform cubic B-spline curve, while the longitudinal planning is based on dynamic planning and quadratic optimization. The model predictive control is used to track and control the lane changing trajectory. Finally, Matlab/Simulink simulation is used to verify that the proposed curve lane changing trajectory algorithm can change lanes smoothly and avoid dynamic obstacles safely.

Key words: Autonomous driving; Frenet coordinate; Curve lane changing; Trajectory planning; Trajectory tracking; Matlab/Simulink