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

Table 1

Design parameters of the model.

Symbol	Explanation	Value
	Number of time intervals	20
	Maximum total driving time	13 s
	Minimum speed	0 m/s
	Maximum speed	30 m/s
	Minimum acceleration	−3 m/s^2
	Maximum acceleration	3 m/s^2
	Minimum jerk	−3 m/s^3
	Maximum jerk	3 m/s^3
	Diameter of the circle	2.50 m
	Diagonal length of the vehicle	5.12 m
L	Length of the vehicle	4.80 m