AUTONOMOUS VEHICLE TRAJECTORY PLANNING BASED ON COMBINED COST FUNCTION

Aiming at the safety and comfort of smart cars in multi-lane highway scenes, a trajectory planning method based on combined cost function is proposed. The Frenet coordinate system is used to solve the vehicle’s lateral and longitudinal motion trajectories, and a set of candidate trajectories are generated through fifth-order polynomial fitting. Taking the degree of danger and the degree of trajectory deviation as the benchmark, and taking the safety and comfort of the vehicle on the multi-lane highway as the goal, a new cost function combination is designed, and the optimal trajectory is selected by solving the cost function. Simulation results show that the proposed new trajectory planning method enables vehicles to follow and change lanes in a three-lane dynamic highway scene.