Table 1 Parameters of autonomous vehicles and the planner

\(t_{h}\) (s)

1

\(\delta_{\max }\) (rad)

\(0.22\uppi\)

\(t_{f}\) (s)

3

\(v_{\min }\) (m/s)

0.00

\(l_{f}\) (m)

1.33

\(v_{\max }\) (m/s)

30.00

\(l_{r}\) (m)

1.81

\(q_{c}\)

130

\(\Delta t\) (s)

0.10

\(q_{l}\)

130

\(a_{\min }\) (m/s²)

−8.00

\(q_{v}\)

4

\(a_{\max }\) (m/s²)

2.80

\(q_{a}\)

6

\(\delta_{\min }\) (rad)

\(- 0.22\uppi\)

\(q_{\delta }\)

100