TY - GEN
T1 - Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles
AU - Bae, Il
AU - Moon, Jaeyoung
AU - Park, Hyunbin
AU - Kim, Jin Hyo
AU - Kim, Shiho
PY - 2013
Y1 - 2013
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84894330703&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84894330703&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2013.6728270
DO - 10.1109/ITSC.2013.6728270
M3 - Conference contribution
AN - SCOPUS:84894330703
SN - 9781479929146
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 436
EP - 441
BT - 2013 16th International IEEE Conference on Intelligent Transportation Systems
T2 - 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013
Y2 - 6 October 2013 through 9 October 2013
ER -