Research on Local Dynamic Path Planning Method for Intelligent Vehicle Lane-Changing

Table 1

Change of track conditions for reference tracks.

main parameter	value	unit
Original Lane speed	20	m/s
Target Lane speed	30	m/s
Lane Width	3.75	m
Maximum Longitudinal Vehicle Speed	30	m/s
Maximum longitudinal acceleration	2.0	m/s^2
Maximum lateral acceleration	2.0	m/s^2