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

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.