Changing lanes will produce traffic conflict in the running process, is extremely easy to cause traffic accidents. According to the characteristics of the driveway transform expected trajectory, the driveway transform process is divided into four stages, at the same time ß spline curve is introduced, on the basis of the given boundary conditions, determine ß spline curve reverse algorithm. Under the condition of the vehicle corner, the corner change rate and the driving behaviour of the

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... the relationship between the speed of lane changing and the length of the lane is established, and then trajectory parameters are calculated. The trajectory curve is calculated by Mat lab simulation and compared with the measured data; the validity of the model is verified by the results of the analysis.