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

Table 1

Parameter and definition.

Parameter	Definition
	Lateral and longitudinal speed
	Lateral and longitudinal speed
	Yaw rate of the vehicle
	Vehicle mass
	Moment of inertia around the z axis
	Synthesized cornering stiffness
	Moment of inertia of the steering system
	Distances of front axle from the center of gravity
	Distances of rear axle from the center of gravity
	Air resistance
	Transmission ratio of the steering system
	Drag coefficient
	Front wheel aligning arm of force
	Front steering angle
	Steering rate
	Steering torque