Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Figure 7

Velocity and acceleration diagrams of the host vehicle ().

(a) Longitudinal velocity-time diagram (m/s)

(b) Longitudinal acceleration-time diagram (m²/s)

(c) Lateral velocity-time diagram (m/s)

(d) Lateral acceleration-time diagram (m²/s)