Local Trajectory Planning for Lane Change Based on Global Waypoint Map

In this paper, we propose a novel methodology of local trajectory planning (LTP) for a lane-change maneuver during a path tracking control. We designed the lane-change trajectory between two different paths, which given in the form of waypoints. Then, a trajectory tracking controller was employed. To validate the proposed LTP method, we collected the waypoint data by an actual driving and used the data for the lane change simulation. In the experiment, we used full-state feedback control for lateral motion. To investigate the improved performance by the proposed method, we also made a comparative study between the proposed method and a simple lane-change method without LTP. We observed that the proposed method showed even stable lane-change performance than the method without LTP.