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- W4234459212 abstract "Motion planning is an important and complex research content in automatic driving system. This paper proposes a motion planning method in lane change scenario, which decouples the motion planning into two parts: longitudinal and lateral planning. This method takes the leading vehicle of each lane change gap as the following control vehicle, obtains the longitudinal trajectory of each gap by LQR algorism. Then the most appropriate lane change gap is selected through a certain strategy, which is developed on driving comfort and timeliness. After the gap selection, the host vehicle follows the leading vehicle of the selected gap to adjust its speed and position to meet the lane change condition. The lateral planning is initialized when the condition is met. The whole algorithm has a small amount of calculation and is convenient for practical engineering application. Finally, the validity and practicability of this method are verified by a real vehicle test." @default.
- W4234459212 created "2022-05-12" @default.
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- W4234459212 date "2021-10-22" @default.
- W4234459212 modified "2023-10-18" @default.
- W4234459212 title "Motion Planning in Lane Change Scenario for Autonomous Vehicles" @default.
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- W4234459212 doi "https://doi.org/10.1109/cac53003.2021.9728035" @default.
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