Research on Lane Change Motion Planning Steering Input Based on Optimal Control Theory

Figure 4

Simulation results of the estimated values between the state variables under the lane change motion planning condition. (a) Steering wheel angle rate, (b) Steering wheel angle, (c) Lateral distance, (d) Yaw rate, and (e) Lateral acceleration.

(a)

(b)

(c)

(d)

(e)