LONGITUDINAL VELOCITY PLANNING FOR LANE CHANGE MANEUVERS

A system for controlling a vehicle includes a monitoring system configured to detect a lane change feature during operation of a vehicle, the lane change feature including at least one of a lane addition feature and a lane split feature. The system also includes a planning module configured to, based on detection of the lane change feature, acquire a trajectory for the vehicle to perform a lane change maneuver at the lane change feature within a time window, the time window selected based on a current velocity of the vehicle, and calculate a longitudinal velocity profile prescribing a sequence of longitudinal velocities selected so that when the vehicle follows the acquired trajectory, the lane change maneuver is performed in a smooth manner within the time window. The system also includes a control module configured to control movement of the vehicle according to the acquired trajectory.