A trajectory planning method based on safety potential field and polynomial lane-changing model is proposed to address the safety and comfort issue of intelligent vehicles in highway lane-changing scenarios.First,the vehicle's motion is decoupled into horizontal and vertical dimensions in the Frenet coordinate system,and the horizontal d-t and the longitudinal s-t trajectory clusters are generated by fifth- and fourth-order polynomials,respectively.Second,to improve algorithm efficiency,a trajectory evaluation index incorporating acceleration,acceleration change rate and curvature is designed according to vehicle dynamics characteristics,and candidate trajectories are obtained after initial screening of the trajectory clusters.Finally,a trajectory evaluation function that integrates safety,comfort and efficiency is established based on safety potential field theory and the concept of minimum driving safety distance,to select the optimal candidate trajectory and complete the simulation verification.The proposed approach is simulated and verified by building a high-speed two-lane curve model and designing diverse lane-changing scenarios for uniform and variable-speed traffic flows.Results show that in the lane-changing process,the collision risk value between the ego-vehicle and obstacle vehicles remains below the critical threshold,ensuring lane-changing safety.Furthermore,under different driving conditions,the ego-vehicle's acceleration,acceleration change rate,and trajectory curvature are all within acceptable limits,indicating that the lane-changing trajectory planning approach ensures both comfort and smoothness in various obstacle traffic flows.