Abstract:

The lateral， longitudinal， and yaw motions of corner module vehicles can be planned and controlled relatively independently. However， the impact of the trajectory on the vehicles' yaw motion is not adequately considered by traditional trajectory planning methods. A polynomial-based pose trajectory planning method for corner module vehicles is proposed in this paper. Firstly， a quintic polynomial-based pose trajectory parameter model is established to generate pose trajectory clusters， Then， considering the road adhesion state constraint， kinematic model constraint， and sideslip angle constraint， the evaluation functions including lane-changing efficiency， lateral performance， yaw angle deviation， and yaw performance are established to generate the optimal polynomial pose trajectory as well as the optimal classical position trajectory. Finally， the two optimal trajectories are compared in highway lane-changing scenarios， and the traceability of the polynomial pose trajectory is verified using MATLAB/Simulink and CarSim co-simulation. The simulation results show that the efficiency of lane-changing can be increased by the polynomial pose trajectory， and the vehicle's yaw comfort and stability can be substantially improved.

Key words: trajectory planning, corner module vehicles, pose trajectory, yaw performance, highway lane-changing