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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2013 16th International IEEE Conference on Intelligent Transportation Systems
Subtitle of host publicationIntelligent Transportation Systems for All Modes, ITSC 2013
Pages436-441
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013 - The Hague, Netherlands
Duration: 2013 Oct 62013 Oct 9

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Other

Other2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013
CountryNetherlands
CityThe Hague
Period13/10/613/10/9

All Science Journal Classification (ASJC) codes

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Path generation and tracking based on a Bézier curve for a steering rate controller of autonomous vehicles'. Together they form a unique fingerprint.

  • 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