Fast lane changing computations using polynomials

This paper presents a fast lane changing algorithm for intelligent vehicle highway systems. The algorithm is based on the use of polynomials for trajectory planning and the use of simplified s-topes for obstacle representation. Dynamic constraints are also taken into account. The resulting criterion for the selection of the desired and achievable trajectory involves the selection of a single coefficient. Illustrative examples show the main advantages of the algorithm especially in the case of lane changing with multiple obstacles.