该算法采用矩形对换道车辆及障碍车辆进行包裹，结合换道车辆的边界条件由以时间为参数的多项式计算得到换道轨迹。

This algorithm used of rectangles for target vehicle and obstacle vehicles representation, combined with target vehicle's states and polynomial theory to generate lane changing trajectory.

youdao

该算法采用矩形对换道车辆及障碍车辆进行包裹，结合换道车辆的边界条件由以时间为参数的多项式计算得到换道轨迹。

This algorithm used of rectangles for target vehicle and obstacle vehicles representation, combined with target vehicle's states and polynomial theory to generate lane changing trajectory.

youdao