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

Table 2

Comparison of model parameters.

Whether dynamic process or not	No dynamic value	Dynamic value	unit
Longitudinal velocity	30	24	m/s
Maximum combined acceleration	1.7	2.3	m/s2
Maximum lateral acceleration	1.63	2.07	m/s2
Lane changing time	5.0	4.0	s
Maximum yaw angular velocity	7.5	8.5	deg/s
Front wheel yaw maximum	2.8	3.2	°