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Adaptive and efficient lane change path planning for automated vehicles

This article presents a path planning concept for automated driving. It builds upon existing approaches using quintic polynomials for path planning in structured environments. The contribution of this work are analytical solutions to evaluate selected properties of quintic polynomial based paths such as maximum acceleration and jerk or overshooting behavior. In addition, a concept for generating asymmetrical lane change trajectories is proposed. The presented concepts are evaluated in terms of computational costs and applicability in a real test vehicle.