Abstract:
The subject of this paper is the efficient computation of lane change trajectories for self-driving
vehicles. The paper first identifies that a certain type of clothoid-based bi-elementary paths can be used to
represent lane change trajectories for vehicles. It is further highlighted that the curvature of such trajectories
must be adjusted to the driving situation in order to obtain feasible lane change trajectories. Accordingly,
the paper establishes an analytical relation between the maximum admissible curvature of the lane change
trajectory and the velocity profile during a lane change. Using this relation, the paper proposes an efficient
Newton iteration for computing the parameters of bi-elementary paths for lane changes. The resulting lane
change trajectories are as short as possible, while meeting the constraint on the maximum curvature. Simulation
experiments for various driving situations show that the computed bi-elementary paths can be computed
efficiently and constitute suitable lane change trajectories.
