A Dynamic Lane-changing Trajectory Planning Methodology in Weaving Areas of Dedicated Connected-and Automated-Vehicle Lanes

Abstract

Connected and automated vehicles (CAVs) may drive on dedicated lanes in the near future. For better safety and efficiency, lane changings between dedicated lanes and regular lanes are only allowed in certain areas, and the lane changing maneuvers in such areas are complicated and worthy of investigation. In this paper, we propose a dynamic trajectory planning methodology for CAVs to complete lane changings in the restricted allowing areas. The trajectory planning process utilizes real-time status of other relevant vehicles, and involves a tradeoff among safety, comfort and efficiency. A numerical simulation is conducted to verify the performance of the proposed methodology.