Abstract: This study focuses on the application of local trajectory planning based on Bezier curves in commercial vehicle platoons, especially for the local path planning of heavy commercial vehicle convoy driving scenarios. By utilizing the smoothness and adjustability of the third-order Bezier curve in mathematics, the paper adjusts the two control points of the Bezier curve to plan a smooth and feasible following trajectory, achieving accurate control of the vehicle's driving path shape and providing a path planning strategy for the autonomous driving system. The paper combines the position judgment algorithm and trajectory planning algorithm to verify through real-car testing that the method can generate smooth and continuous local following trajectories, effectively improving the stability and safety of the convoy vehicle following.

Key words: local trajectory planning; Bezier curves; the formation of driving; location judging

摘要： 文章基于贝塞尔曲线的局部轨迹规划方法在自动驾驶领域中的应用，特别是针对重型 商用车编队行驶车辆场景下的局部路径规划，利用三阶贝塞尔曲线在数学上的平滑性和可调 整性。文章通过调整贝塞尔曲线的两个控制点，规划出平滑可行的跟车轨迹，实现了对车辆 行驶路径形状的准确控制，为自动驾驶系统提供了路径规划策略。再将位置判断算法和轨迹 规划算法相结合，通过实车测试验证了该方法能够生成平滑且连续的局部跟随轨迹，有效提 升了编队车辆跟随行驶的稳定性和安全性。

关键词: 局部轨迹规划；贝塞尔曲线；编队行驶；位置判断