Path generation and tracking based on a B&amp;#x00E9;zier curve for a steering rate controller of autonomous vehicles

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

doi:10.1109/itsc.2013.6728270

Cited by 26 publications

(14 citation statements)

References 8 publications

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“…Since it was proposed by Pierre Bézier in 1962, the Bézier curve [15], [20] has been widely applied in in animation and computer graphics as a parametric curve. Under the given points P 0 , P 1 , .…”

Section: Analysis Of Bézier Curve In Different Ordersmentioning

confidence: 99%

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Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

Luo

2019

IEEE Access

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Intelligent vehicles are expected to avoid collision through emergency lane change when a vehicle suddenly appears. Therefore, it is very meaningful to plan a path for collision-free lane change with a vehicle in front, which strikes a balance between vehicle performance and driving comfort. In this paper, a path planning method is designed based on fifth-order Bézier curve for lane change with a vehicle in front. Firstly, the boundaries were determined to ensure the fast response to the changing environment and driving comfort. Then, a multi-objective optimization function was set up, considering the curvature at the start point, the maximum curvature, the angle between path centre and road axis (the maximum swing angle), and the lane change time. Next, the coordinates of the control points that determine the curve shape were solved, and thus the optimal path was set up based on the fifth-order Bézier curve. Simulation results show that the proposed method could output suitable collision-free paths for lane change at different vehicle velocities. The research results shed new light on the dynamic path planning in actual traffic environment and enjoy great application value.

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Section: Analysis Of Bézier Curve In Different Ordersmentioning

confidence: 99%

“…Based on fourth-order Bézier curve, Han et al [17] proposed a collision-free path planning method for mobile robots. Bae et al [15] designed a feasible real-time path planning algorithm for intelligent vehicles based on fifth-order Bézier curve.…”

Section: Introductionmentioning

confidence: 99%

Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

Luo

2019

IEEE Access

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“…(15) (16) The area of possible turning radius R is shown in figure 7 as a function of step forward distance s. We list the vehicle's constants used for experiment in TABLE II, and set the 2) Path generation using Bezier curves A Bezier curve has been widely used as a parametric curve in path planning. This section will introduce the Bezier curve and its advantages.…”

Section: B) Perpendicular Parkingmentioning

confidence: 99%

“…This is an advantage when designating a vehicle's heading angle in a lateral movement at the end point of desired path [16]. To obtain smooth input of the steering angles" we need to connect the arc and Bezier curve.…”

Section: B) Perpendicular Parkingmentioning

confidence: 99%

“…In addition, forward path planning is implemented by dividing the path into two segments: a locating segment and an entering segment. The arc in the locating segment and the Bezier curve [16] in the entering segment are connected together. The arc can consider the minimum distance between the front comer of a vehicle and a static obstacle using the geometric model.…”

Section: Introductionmentioning

confidence: 99%

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A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems

Moon

Bae

Gwang

et al. 2014

17th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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This paper proposes a planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems, especially suitable for backward parking situations. The algorithm is based on the steering property that backward moving trajectory coincides with the forward moving trajectory for the identical steering angle. The basic path planning is divided into two segments: a collision-free locating segment and an entering segment that considers the continuous steering angles for connecting the two paths. MATLAB simulations were conducted, along with experiments involving parallel and perpendicular situations.978-1-4799-6078-

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A path and velocity planning method for lane changing collision avoidance of intelligent vehicle based on cubic 3-D Bezier curve

Chen

Qin

et al. 2019

Advances in Engineering Software

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

Cited by 26 publications

References 8 publications

Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems

A path and velocity planning method for lane changing collision avoidance of intelligent vehicle based on cubic 3-D Bezier curve

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