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

Table 2

Simulation results under the test scenarios.

Variable	The first type of scenario	The second type of scenario
	6.36	7.71
	10.24	11.56
	3.63	4.24
	1.52	2.89
	1.96	2.73
	106.85	135.46
	106.98	136.18