Dynamic Trajectory Planning for Automated Lane Changing Using the Quintic Polynomial Curve

Table 2

Sensitivity analysis result of the planning step size.

	Steps	Final longitudinal position (m)	Remaining LC time (s)	Total cost value	Comfort cost value	Efficiency cost value
0.5 s	1	88.71	4.45	15.22	5.09	25.34
	2	83.91	3.81	13.04	4.24	21.83
	3	77.33	3.09	14.98	11.38	18.58
	4	72.35	2.44	19.25	21.50	17.00
	5	70.60	1.95	15.89	13.45	18.34
	6	71.89	1.62	14.44	3.95	24.94
	7	73.84	1.31	28.65	16.55	40.75
	8	73.76	0.91	39.49	13.49	65.48
0.8 s	1	88.71	4.45	15.22	5.09	25.34
	2	82.87	3.46	13.16	6.02	20.29
	3	78.54	2.55	14.58	10.51	18.64
	4	78.14	1.83	13.50	3.07	23.93
	5	78.48	1.14	28.57	11.83	45.32
1 s	1	88.71	4.45	15.22	5.09	25.34
	2	82.80	3.26	13.43	7.18	19.69
	3	80.23	2.23	13.20	5.84	20.56
	4	80.44	1.34	22.58	8.05	37.10
1.5 s	1	88.71	4.45	15.22	5.09	25.34
	2	83.72	2.80	13.68	7.85	19.50
	3	83.24	1.38	22.24	7.53	36.95
2 s	1	88.71	4.45	15.22	5.09	25.34
	2	85.19	2.38	13.35	5.42	21.28