A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers

<div>Trajectories under scenario 1: (a) trajectories of the ego vehicle, vehicle 1, and vehicle 2; (b) trajectories of the ego vehicle, vehicle 1, and vehicle 3.</div>

Mathematical Problems in Engineering

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Figure 8

Figure 8: A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers 