[1]YANG Zhifa,SHI Jiaqi,YU Zhuo,et al.Trajectory planning methodology for connected vehicles in highway merging zones based on mainline-ramp cooperative platooning[J].CAAI transactions on intelligent systems,2026,21(5):1282-1291.[doi:10.11992/tis.202512045]
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Trajectory planning methodology for connected vehicles in highway merging zones based on mainline-ramp cooperative platooning

CAAI transactions on intelligent systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 21 Number of periods: 2026 5 Page number: 1282-1291 Column: 学术论文—智能系统 Public date: 2026-09-05
Title:
Trajectory planning methodology for connected vehicles in highway merging zones based on mainline-ramp cooperative platooning
Author(s):
YANG Zhifa1; 2;  SHI Jiaqi1; 3;  YU Zhuo4;  WANG Long2
1. School of Intelligent Manufacturing, Guangzhou Maritime University, Guangzhou 510725, China;
2. School of Transportation, Jilin University, Changchun 130025, China;
3. School of Civil Engineering and Transportation, Guangdong University of Technology, Guangzhou 510006, China;
4. School of Arts and Sciences, Guangzhou Maritime University, Guangzhou 510725, China
Keywords:
expressway merging areas; cooperative platooning of connected vehicles; trajectory planning; polynomial lane-changing trajectory; two-degree-of-freedom of vehicle; dynamic stability constraints; separating axis theorem; trajectory cluster
CLC:
TP273.1；U471.23
DOI:
10.11992/tis.202512045
Abstract:
To achieve coordinated platooning of connected vehicles on highway mainlines and ramps, this paper addresses the vehicle trajectory planning problem in merging zones by proposing a trajectory optimization method that integrates dynamic stability constraints and collision detection. A quintic polynomial is selected as the baseline model to enable coordinated longitudinal and lateral motion planning. Utilizing a two-degree-of-freedom vehicle model, stability boundaries for yaw rate and sideslip angle are analytically derived. Combined with Trucksim simulations, an expression for the minimum lane-changing duration is fitted with a goodness-of-fit value of 0.992, thereby establishing a comprehensive dynamic constraint framework. The separating axis theorem (SAT) is employed to enable rapid collision detection. A composite cost function incorporating both safety risk and lane-changing efficiency is constructed. Through weighted adjustment (0.4, 0.5, 0.6), the optimal lane-changing duration of 5.16 seconds is determined, considering both vehicle dynamic stability risks and overall lane-changing efficiency. Simulation results confirm conflict-free trajectories between mainline and ramp vehicles, smooth lane-changing maneuvers, and well-coordinated longitudinal-lateral motions, thereby validating the effectiveness of the proposed model.
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