Lane Changing Trajectory Planning of Intelligent Connected Vehicles Based on Bezier Curve

With the increasing popularity of vehicle-to-vehicle communication technology, optimizing the movement of intelligent connected vehicles with features such as connectivity, intelligence, and collaboration in typical scenarios has become an important means to address current road traffic safety issues and improve traffic system efficiency. This paper fully utilizes the advantages of information sharing and collaborative control among intelligent connected vehicles, enabling intelligent connected vehicles approaching intersections to perform lane changing trajectory planning on intersection connecting sections. This transforms the vehicles from an unordered state with random distributions of speed, spacing, and target lanes to an ordered vehicle convoy traveling with desired speed, desired spacing, and distributed in target lanes, thereby maximizing the efficiency of traffic flow on road sections. Firstly, considering the cooperative driving strategy of intelligent connected vehicles at intersections, and combining the entry and exit conditions of intersections with the compound influence mechanism of individual vehicle motion characteristics and vehicle-vehicle motion interactions on vehicle trajectory, constraints for trajectory optimization are proposed. Then, based on objectives such as safety, comfort, and traffic efficiency, a target function is established, and a fifth-order bezier curve with good controllability and high smoothness is used to propose an optimal lane changing trajectory planning method that only requires obtaining vehicle positional relationships. Finally, through joint simulation using MATLAB/Simulink & Prescan, the trajectory planning method is validated to ensure safe and reliable lane changing into the target lane under the conditions of cooperative driving at intersections, meeting functional requirements.