Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles

Il Bae; Jaeyoung Moon; Hyunbin Park; Jin Hyo Kim; Shiho Kim

doi:10.1109/ITSC.2013.6728270

Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles

Il Bae, Jaeyoung Moon, Hyunbin Park, Jin Hyo Kim, Shiho Kim

School of Integrated Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

The present paper demonstrates a feasible real-time path planning algorithm and tracking method for autonomous driving vehicles based on a 5 ^th-order Bézier curve. It is demonstrated that a 5 ^th-degree Bézier curve is required to generate a feasible path to achieve lane change maneuvers in a dynamic on-road environment. The steering rate control input is calculated based on the curvature extracted from the generated trajectory. Matlab simulations were conducted both for path generation and instantaneous planning of driving path for single and double lane change maneuvers. The proposed method was evaluated in an experiment using a miniature-sized unmanned ground vehicle.

Original language	English
Title of host publication	2013 16th International IEEE Conference on Intelligent Transportation Systems
Subtitle of host publication	Intelligent Transportation Systems for All Modes, ITSC 2013
Pages	436-441
Number of pages	6
DOIs	https://doi.org/10.1109/ITSC.2013.6728270
Publication status	Published - 2013
Event	2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013 - The Hague, Netherlands Duration: 2013 Oct 6 → 2013 Oct 9

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Other

Other	2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013
Country	Netherlands
City	The Hague
Period	13/10/6 → 13/10/9

All Science Journal Classification (ASJC) codes

Automotive Engineering
Mechanical Engineering
Computer Science Applications

Access to Document

10.1109/ITSC.2013.6728270

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Cite this

Bae, I., Moon, J., Park, H., Kim, J. H., & Kim, S. (2013). Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles. In 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013 (pp. 436-441). [6728270] (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). https://doi.org/10.1109/ITSC.2013.6728270

Bae, Il ; Moon, Jaeyoung ; Park, Hyunbin ; Kim, Jin Hyo ; Kim, Shiho. / Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles. 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013. 2013. pp. 436-441 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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title = "Path generation and tracking based on a B{\'e}zier curve for a steering rate controller of autonomous vehicles",

abstract = "The present paper demonstrates a feasible real-time path planning algorithm and tracking method for autonomous driving vehicles based on a 5 th-order B{\'e}zier curve. It is demonstrated that a 5 th-degree B{\'e}zier curve is required to generate a feasible path to achieve lane change maneuvers in a dynamic on-road environment. The steering rate control input is calculated based on the curvature extracted from the generated trajectory. Matlab simulations were conducted both for path generation and instantaneous planning of driving path for single and double lane change maneuvers. The proposed method was evaluated in an experiment using a miniature-sized unmanned ground vehicle.",

author = "Il Bae and Jaeyoung Moon and Hyunbin Park and Kim, {Jin Hyo} and Shiho Kim",

year = "2013",

doi = "10.1109/ITSC.2013.6728270",

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series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",

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}

Bae, I, Moon, J, Park, H, Kim, JH & Kim, S 2013, Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles. in 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013., 6728270, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, pp. 436-441, 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013, The Hague, Netherlands, 13/10/6. https://doi.org/10.1109/ITSC.2013.6728270

Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles. / Bae, Il; Moon, Jaeyoung; Park, Hyunbin; Kim, Jin Hyo; Kim, Shiho.

2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013. 2013. p. 436-441 6728270 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - The present paper demonstrates a feasible real-time path planning algorithm and tracking method for autonomous driving vehicles based on a 5 th-order Bézier curve. It is demonstrated that a 5 th-degree Bézier curve is required to generate a feasible path to achieve lane change maneuvers in a dynamic on-road environment. The steering rate control input is calculated based on the curvature extracted from the generated trajectory. Matlab simulations were conducted both for path generation and instantaneous planning of driving path for single and double lane change maneuvers. The proposed method was evaluated in an experiment using a miniature-sized unmanned ground vehicle.

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Bae I, Moon J, Park H, Kim JH, Kim S. Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles. In 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013. 2013. p. 436-441. 6728270. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). https://doi.org/10.1109/ITSC.2013.6728270