Kinematic model based real-time path planning method with guide line for autonomous vehicle

This paper presents a kinematic model based path planning algorithm for autonomous vehicle. Polynomial parameterization is used to generate the trajectory. All constraints including kinematic constraints and obstacles are represented by polynomial parameters. Using this parameterization method the velocity can be planned simultaneously. Road information is taken into account in the object function through a guide line generated by Bezier curve. Solving optimization problem with constraint, a trajectory is generated by the planner. Compared with traditional one, the trajectory generated by the proposed method satisfies kinematic constraints of vehicle. Simulation results demonstrate the validity of the proposed algorithm.