A path generation method for automated vehicles based on Bezier curve

This paper presents a path generation method for automated vehicles based on Bezier curve. Derivation of smooth path is one of important subjects for vehicle navigation system. Bezier curve is a smooth parametoric curve but assignment of its control points that detemine the shape of Bezier curve is not simple problem. In presented method, a general solution of nth order Bezier curve is formulated and path modification by using constrained optimization approach is introduced. Presented method is tested by computer simulations and the results are shown in this paper.