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

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.