Lane Change Path

[参考文献]：Huang, Tenglong & Pan, Huihui & Zhang, Chi & Sun, Weichao. (2020). Path Planning and Fault-tolerant Control Based on Resistance Network for Autonomous Driving. 158-162. 10.1109/CVCI51460.2020.9338441.

Matlab代码实现：

x1=20;
x2=80;
y1=0;
y2=20;
xp=0:0.05:100;
yp=zeros(1,length(xp));
for i=1:length(xp)
    if xp(i)<x1
        yp(1,i)=y1;
    end
    if xp(i)>=x1 && xp(i)<x2
        yp(1,i)=(y1+y2)/2*sin(pi/(x2-x1)*(xp(i)-(x1+x2)/2))+(y1+y2)/2;
    end
    if xp(i)>=x2
        yp(1,i)=y2;
    end
end
plot(xp,yp,'linewidth',2)