通过对实际车辆单元换道轨迹的观测与换道执行时间的统计分析，建立了车辆换道转角与车速的函数关系。

By analyzing the track of vehicle's lane changing and the span of lane changing, we establish the relation between velocity and Angle of lane changing.

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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.

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