Lane change is one of the important operations in motion of an autonomous vehicle. When encountering obstacles or wanting to overtake the vehicle ahead, the autonomous vehicle will make a decision and choose the best path to control the trajectory of motion to perform lane change. In this article, we will present solutions for lane change trajectories, including general path setting, building nonlinear models with states of vehicle speed, acceleration and jerk; building a constraint set to avoid collisions with a minimum safe distance model, which takes into account the potentially collision angle positions during lane change. Simulation results are performed in Matlab simulation environment to demonstrate an effective proposed solution and addressed the disadvantages in the modeling process for lane-changing operations, in order to improve the proactive safety of the motion planning for autonomous vehicles.

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In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle's safety features and the road's slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane‐change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane‐change trajectories for autonomous vehicles. When comparing this generated trajectory with a man‐generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver's lane‐change operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane‐change trajectory.

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