A Non-Linear Programing Optimization formulation to optimize the control of an autonomous vehicle lane change.
Optimize the vehicle controls for a lane change that maximizes ride quality while satisfying the following conditions:
- Performs the lane change in a specified distance and maximum amount of time
- Remains within the limits of the road
- Specified start/end speed
- Start and end at steady state velocity & yaw rate and aligned with the road
- Straight road (no curvature)
- No other vehicles in the scene
- Simple linear bicycle model