Micro-Path Planning for Lane-Changing Return of Autonomous Vehicles

A path planning method of the car to return to the original lane needs to be established when the self-driving car fails to change lanes in an autonomous driving environment. The study for vehicles to return to the original lane when the vehicle fails to change lanes in the unmanned environment is necessary. In the study, we used the quintic polynomial path planning method to establish a path optimization model of returning to the original lane based on the requirements of vehicle kinematics. Considering the safety and efficiency of lane-changing return, we set up a comprehensive benefit function to evaluate the model. Simulations were used to test the models and compared paths. The results indicate that the proposed lane changing return model has high accuracy and can guarantee the safety of the return path to actual driving.