An improved autopilot trajectory planning model

It mainly focuses on the optimisation problem of lane changing trajectories of self-driving vehicles in one-way two-lane straight roadway traffic scenarios. Vehicles often produce lane changing behaviour during driving, this paper designs an improved lane changing trajectory planning model based on the optimization idea of dynamic programming design. The model fully takes into account the uncertainties due to the lane changing process, considers the critical position constraints of the lane changing folding back to the original lane, and dynamically plans the optimal vehicle trajectory, and finally solves the model by using numerical solving methods and verifies the feasibility of the model through simulation.