Dynamic Trajectory Planning for Automated Lane Changing Using the Quintic Polynomial Curve

Table 3

Comparison results of the cost between the field data with simulated data.

Tracks segment ids	Vehicle ids	Cost (field data)			Cost (simulated data)
		Comfort	Efficiency	Total	Comfort	Efficiency	Total
26	2399	21.124	41.199	31.162	6.017	23.684	14.851
33	2038	63.169	53.530	58.349	7.986	31.437	19.711
30	921	13.843	56.911	35.377	8.379	32.839	20.609
25	2794	24.770	21.110	22.940	13.884	27.423	20.654