Abstract: Aiming at the problem of low safety and smoothness of lane changing of connected and automated commercial vehicles, a lane changing trajectory planning method for connected and automated commercial vehicles based on MSIGJO was proposed. Firstly, based on vehicle to everything (V2X) technology, the state information around connected and automated commercial vehicles was obtained and a safe distance model for lane changing of commercial vehicle was established. Secondly, the smoothness, economy, and lane changing efficiency of commercial vehicles were introduced as indicators, and a multi-objective collaborative optimization function was constructed. Finally, a dynamic weight position updating strategy and a flipping strategy were introduced to improve the golden jackal optimization (GJO) algorithm, and then the MSIGJO algorithm was proposed to solve the function to get the optimal lane changing trajectory. The experiment results show that the proposed method improves the lateral tracking accuracy by 12.67%, and respectively reduces the change rate of lateral acceleration and the change rate of center of mass sideslip angle by 11.94% and 12.65%, which effectively improves safety and smoothness of lane changing for the connected and automated commercial vehicles and provides a reference for the research of lane changing trajectory planning for the connected and automated commercial vehicles.

Key words: vehicle engineering; intelligent transportation; lane changing trajectory planning; golden jackal optimization algorithm (GJO); connected and automated commercial vehicles; multi-objective optimization

摘要： 针对网联商用车换道安全性、平顺性较低的问题，提出一种基于多策略改进金豺优化算法（multi-strategy improved golden jackal optimization，MSIGJO）的网联商用车换道轨迹规划方法。首先，基于V2X（vehicle to everything）技术获取智能网联商用车周围状态信息，建立商用车换道安全距离模型；其次，引入商用车换道平顺性、经济性和换道效率作为指标，构建多目标协同优化函数；最后，引入动态权重位置更新策略和翻转策略改进金豺优化算法（golden jackal optimization，GJO），进而提出MSIGJO算法，利用MSIGJO算法求解函数得到最优换道轨迹。研究结果表明：该方法在商用车换道过程中横向跟踪精度提升了12.67%，侧向加速度变化率和质心侧偏角变化率分别降低了11.94%和12.65%，有效提升智能网联商用车换道安全性和平顺性，为智能网联商用车换道轨迹规划研究提供参考。

关键词: 车辆工程；智能交通；换道轨迹规划；金豺优化算法；智能网联商用车；多目标优化