Dynamic-stability-aware lane-change planning method for intelligent connected vehicles considering different road frictions

Haonan Peng; Weida Wang; Qiwen Zha; Baoyou Wang; Yongzhen Zhang; Han Wu; Changle Xiang

doi:10.1177/09544070261460970

Dynamic-stability-aware lane-change planning method for intelligent connected vehicles considering different road frictions

Haonan Peng
, Weida Wang
, Qiwen Zha^*
, Baoyou Wang
, Yongzhen Zhang
, Han Wu
, Changle Xiang

^*Corresponding author for this work

School of Mechanical Engineering

China Academy of Industrial Internet
Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

Current trajectory planning approaches mainly concentrate on geometric optimization and do not take vehicle nonlinear dynamics into full consideration. Infeasible lane-change trajectories may cause dynamic instability in critical situations, especially under low road frictions. This paper presents a dynamic-stability-aware lane-change planning method (DSA-LCP) formulated as an optimal control problem for automated vehicles. Trajectory smoothness, geometrical safety, and handling dynamics are integrated into the formulations of this planning method. Specifically, the road friction coefficient, which has crucial impacts on handling limitations, is deeply analyzed to within road adhesion capacity. Various test results including various road conditions and vehicle speeds are carried out, and the results validate the efficiency of the proposed DSA-LCP.

Original language	English
Journal	Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
DOIs	https://doi.org/10.1177/09544070261460970
Publication status	Accepted/In press - 2026

Keywords

dynamic-stability aware
intelligent connected vehicles
lane-change planning
optimal control
vehicle dynamics

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10.1177/09544070261460970

Cite this

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title = "Dynamic-stability-aware lane-change planning method for intelligent connected vehicles considering different road frictions",

abstract = "Current trajectory planning approaches mainly concentrate on geometric optimization and do not take vehicle nonlinear dynamics into full consideration. Infeasible lane-change trajectories may cause dynamic instability in critical situations, especially under low road frictions. This paper presents a dynamic-stability-aware lane-change planning method (DSA-LCP) formulated as an optimal control problem for automated vehicles. Trajectory smoothness, geometrical safety, and handling dynamics are integrated into the formulations of this planning method. Specifically, the road friction coefficient, which has crucial impacts on handling limitations, is deeply analyzed to within road adhesion capacity. Various test results including various road conditions and vehicle speeds are carried out, and the results validate the efficiency of the proposed DSA-LCP.",

keywords = "dynamic-stability aware, intelligent connected vehicles, lane-change planning, optimal control, vehicle dynamics",

author = "Haonan Peng and Weida Wang and Qiwen Zha and Baoyou Wang and Yongzhen Zhang and Han Wu and Changle Xiang",

note = "Publisher Copyright: {\textcopyright} IMechE 2026",

year = "2026",

doi = "10.1177/09544070261460970",

language = "English",

journal = "Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering",

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T1 - Dynamic-stability-aware lane-change planning method for intelligent connected vehicles considering different road frictions

AU - Peng, Haonan

AU - Wang, Weida

AU - Zha, Qiwen

AU - Wang, Baoyou

AU - Zhang, Yongzhen

AU - Wu, Han

AU - Xiang, Changle

N1 - Publisher Copyright: © IMechE 2026

PY - 2026

Y1 - 2026

N2 - Current trajectory planning approaches mainly concentrate on geometric optimization and do not take vehicle nonlinear dynamics into full consideration. Infeasible lane-change trajectories may cause dynamic instability in critical situations, especially under low road frictions. This paper presents a dynamic-stability-aware lane-change planning method (DSA-LCP) formulated as an optimal control problem for automated vehicles. Trajectory smoothness, geometrical safety, and handling dynamics are integrated into the formulations of this planning method. Specifically, the road friction coefficient, which has crucial impacts on handling limitations, is deeply analyzed to within road adhesion capacity. Various test results including various road conditions and vehicle speeds are carried out, and the results validate the efficiency of the proposed DSA-LCP.

AB - Current trajectory planning approaches mainly concentrate on geometric optimization and do not take vehicle nonlinear dynamics into full consideration. Infeasible lane-change trajectories may cause dynamic instability in critical situations, especially under low road frictions. This paper presents a dynamic-stability-aware lane-change planning method (DSA-LCP) formulated as an optimal control problem for automated vehicles. Trajectory smoothness, geometrical safety, and handling dynamics are integrated into the formulations of this planning method. Specifically, the road friction coefficient, which has crucial impacts on handling limitations, is deeply analyzed to within road adhesion capacity. Various test results including various road conditions and vehicle speeds are carried out, and the results validate the efficiency of the proposed DSA-LCP.

KW - dynamic-stability aware

KW - intelligent connected vehicles

KW - lane-change planning

KW - optimal control

KW - vehicle dynamics

UR - https://www.scopus.com/pages/publications/105044010932

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DO - 10.1177/09544070261460970

M3 - Article

AN - SCOPUS:105044010932

SN - 0954-4070

JO - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering

JF - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering

ER -

Dynamic-stability-aware lane-change planning method for intelligent connected vehicles considering different road frictions

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Keywords

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