ResearchBenchmarksTrajectory Planning on MATLAB Simulation Complex Lane-Changing Scenarios 2024bTrajectory Planning on MATLAB Simulation Complex Lane-Changing Scenarios 2024bFollow5.32Vx Acceleration (m/s^2)Poly5.13446.38727.648.8928Nov 28, 2025Evaluation resultsMethodMethodLinksVx Acceleration (m/s^2)Vy Acceleration (m/s^2)Jerk X (m/s^3)Traversal Distance (m)Time Taken (s)Poly2025.115.320.381.3857.62—DWA2025.115.380.390.1545.82—Lattice2025.115.380.370.1642.32—Bezier2025.115.420.390.2249.11—iLQR2025.119.960.40.3828.59—