同济大学学报（自然科学版）2026，Vol.54Issue(7)：1015-1024,10.DOI:10.11908/j.issn.0253-374x.25273
基于安全域与风险场的网联双车协同换道轨迹规划
Cooperative Lane Change Trajectory Planning for Connected Dual Vehicles Based on Safety Domains and Risk Fields
摘要
Abstract
To address the decision conflict and trajectory planning coupling issues arising from the spatio-temporal overlap of predefined intentions between vehicles during lane-changing scenarios on highways for intelligent connected vehicles(ICVs),a collaborative trajectory planning method incorporating a three-stage screening process was proposed.Firstly,a quintic polynomial was employed to generate the combined trajectory solution space for both vehicles.Secondly,a hyperbolic tangent function was utilized to establish an elliptical safety boundary model for the initial trajectory screening.Thirdly,integrating the risk field theory with lateral and longitudinal impact intensity,a total risk function was constructed for the secondary theory screening.Finally,by combining vehicle dynamics constraints with a multi-objective lane-change cost function,overall trajectory combinations were evaluated to select the optimal combination.Two-vehicle lane-change simulation results demonstrate that under both normal and emergency lane-change scenarios,the proposed algorithm reduces lane-change costs compared to traditional risk assessment methods and effectively balances safety and comfort,which provides a reference for developing cooperative decision-making algorithms for connected vehicles.关键词
智能交通/协同换道轨迹规划/风险场/智能车辆/换道成本Key words
intelligent transportation/cooperative lane change trajectory planning/risk field/intelligent vehicles/lane change cost分类
交通工程引用本文复制引用
张建华,路正幸,张文会..基于安全域与风险场的网联双车协同换道轨迹规划[J].同济大学学报（自然科学版）,2026,54(7):1015-1024,10.基金项目
国家自然科学基金(52572369) （52572369）
黑龙江省自然科学基金(JD22A014) （JD22A014）
