An optimization-based double quintic lane-change planner that penalizes low time-to-collision is proposed and tested in simulation.
Engineering 21, 75–91 (2023)
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Safe and Efficient Lane-Changing for Autonomous Vehicles: An Improved Double Quintic Polynomial Approach with Time-to-Collision Evaluation
An optimization-based double quintic lane-change planner that penalizes low time-to-collision is proposed and tested in simulation.