Research on SUV Lane Changing Trajectory Planning Method Integrating Rollover Stability

doi:10.3901/JME.2023.04.145

Abstract

Abstract: Aiming at SUV rollover safety during lane changing, an SUV lane changing trajectory planning method integrating rollover stability is proposed. A three degrees of freedom vehicle dynamics model is established. Rollover and sideslip stability evaluation indexes of SUV are derived. According to the vehicle status and environmental information, the lane change trajectory planning is divided into two stages: pre-planning and re-planning. In the pre-planning stage, the quintic polynomial model is used to generate the lateral track cluster of lane change. And in the re-planning stage, the dynamic change information of surrounding vehicles is considered to generate the track cluster with longitudinal speed change. The cost function is constructed by combining rollover stability index, sideslip stability index, and the minimum distance of vehicles shape fitted by double circles. Then a trajectory is selected from the track cluster using the cost function. Furthermore, the interior penalty function is used to optimize the selected trajectory. Finally, SUV lane change trajectory planning method is simulated in two typical cases. The results show that, driving along the trajectory planned by the proposed method, SUV can complete lane change and avoid obstacles, with small lateral displacement，high efficiency, and high level rollover stability.

Key words: lane changing trajectory planning, rollover stability, trajectory select, trajectory optimization

CLC Number:

U461

JIN Zhilin, HE Shaowei, HUANG Shuwei. Research on SUV Lane Changing Trajectory Planning Method Integrating Rollover Stability[J]. Journal of Mechanical Engineering, 2023, 59(4): 145-154.

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