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

Figure 7

Scenario 1: comparative study of time-optimal trajectory simulation for candidate lane-change curves. The red, blue, and green bars denote, respectively, quintic Bezier (), concatenated cubic Bezier (), and simplified -spline (). (a) Path length, (b) maximum curvature , (c) minimum travel time , and (d) trajectory computation time .

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(b)

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(d)