Trajectory planning with consideration of surrounding vehicles and decision-making in the middle of complicated manoeuvres are some of the most important challenges regarding the implementation of automated driving. Since transient dynamic traffic conditions was limited to the start of the manoeuvre in previous research, no solution was provided for the surrounding vehicles’ transient changes during the manoeuvre. The algorithm presented in this paper is able to adapt to unstable variable traffic conditions and it is robust to changes in the surrounding vehicles’ conditions, even during the lane change manoeuvre. The Adaptive Lane Change algorithm provides all possible safe trajectories for any moment of manoeuvre via applying DE optimization method on a fifth-order polynomial equation. In this way, it is able to make a new decision and plan safe trajectories according to the new conditions of surrounding vehicles during the manoeuvre. Also, it guarantees collision avoidance at all-time via simultaneous longitudinal and lateral vehicle control. Improving the trajectory during a lane change manoeuvre regarding the surrounding vehicles’ conditions is considered as one of the main contributions of the presented algorithm. A second main contribution is the collision avoidance considering the vehicle’s dynamic via returning to the initial lane when there is no safe trajectory in the target lane, even during the lane change manoeuvre. The decision-making unit is evaluated by real driving tests. Then, the whole structure is simulated with MATLAB in complex transient dynamic traffic conditions via various scenarios and its performance is tested with IPG CarMaker in the presence of simulated surrounding vehicles.

考虑周围车辆的轨迹规划和复杂操作中的决策是实现自动驾驶的一些最重要的挑战。由于之前的研究中瞬态动态交通条件仅限于机动开始时，因此没有针对机动过程中周围车辆的瞬态变化提供解决方案。本文中提出的算法能够适应不稳定的可变交通条件，并且即使在换道操作期间对周围车辆条件的变化也具有鲁棒性。自适应车道变换算法通过在五阶多项式方程上应用 DE 优化方法，为任何机动时刻提供所有可能的安全轨迹。这样，它能够在机动过程中根据周围车辆的新情况做出新的决定并规划安全轨迹。此外，它还通过同时纵向和横向车辆控制来确保始终避免碰撞。在变道机动期间改善关于周围车辆状况的轨迹被认为是所提出算法的主要贡献之一。第二个主要贡献是通过在目标车道中没有安全轨迹时返回初始车道来考虑车辆的动态避免碰撞，即使在换道操作期间也是如此。决策单元通过实际驾驶测试进行评估。然后，