Research on Trajectory Planning Method Based on Bézier Curves for Dynamic Scenarios

With the increase in car ownership, traffic congestion, and frequent accidents, autonomous driving technology, especially for dynamic driving scenarios in the whole domain, has become a technological challenge for today’s researchers. Trajectory planning, as a crucial component of the autonomous driving technology framework, is gradually becoming a hot topic in intelligent research. In response to the challenges of planning lane-changing trajectories in complex dynamic driving scenarios under emergency evasive maneuvers, where it is difficult to consider surrounding vehicles and achieve dynamic adaptability, this paper proposes a dynamic adaptive trajectory planning method based on Bézier curves. Firstly, a mathematical model of Bézier curves is established and its curve characteristics are analyzed, which facilitates the correlation between the trajectory control points and the vehicle and the surrounding obstacles. Secondly, a mathematical function representing the Bézier curve is formulated, where the control points serve as the input and the lane-changing control curve as the output. Finally, the proposed method is validated through simulations on a jointly established simulation platform. The results indicate that the proposed method can plan lane-changing trajectories that are both safe and efficient under emergency evasive maneuvers, considering both static and complex dynamic conditions. This provides a novel solution for lane-changing trajectory planning in emergency evasive maneuvers for autonomous vehicles and holds significant theoretical research value.