When the traffic stream is extremely congested and surrounding vehicles are not cooperative, the mandatory lane changing can be significantly difficult. In this work, we propose an interactive trajectory planner, which will firstly attempt to change lanes as long as safety is ensured. Based on receding horizon planning, the ego vehicle can abort or continue changing lanes according to surrounding vehicles' reactions. We demonstrate the performance of our planner in extensive simulations with eight surrounding vehicles, initial velocity ranging from 0.5 to 5 meters per second, and bumper to bumper gap ranging from 4 to 10 meters. The ego vehicle with our planner can change lanes safely and smoothly. The computation time of the planner at every step is within 10 milliseconds in most cases on a laptop with 1.8GHz Intel Core i7-10610U.

翻译：当车流极度拥堵且周围车辆不合作时，强制变道可能变得非常困难。本文提出了一种交互式轨迹规划器，该规划器首先会在确保安全的前提下尝试变道。基于滚动时域规划，自车可根据周围车辆的反应中止或继续变道。我们在包含八辆周围车辆、初始速度0.5至5米/秒、保险杠间距4至10米的广泛仿真中验证了该规划器的性能。采用本规划器的自车能够安全平稳地完成变道。在配备1.8GHz Intel Core i7-10610U的笔记本电脑上，大多数情况下规划器每一步的计算时间均在10毫秒以内。