Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

Figure 2

Symmetric lane-change curve (blue line) followed by a unicycle from a start configuration at Current Lane A to an end configuration at Target Lane B on a one-way two-lane road. The lanes denote the centrelines of roadways. The world coordinate frame is set as follows: x denotes the forward/longitudinal direction, y denotes the lateral direction, and is the angle between the x-axis and the heading direction of the vehicle (coincident with the tangent for a unicycle).