A Path Tracking and Collision Prevention Control System for an Electric Vehicle with Trajectories Generated by Bezier Curves

The problem of trajectory generation and tracking for stable road line tracking and collision avoidance systems for electric vehicles has become a trending topic for which different solutions have been discussed by researchers working in the field of control theory and industry stakeholders. In the trajectory generation phase for path following and object avoidance problems, researchers have tried to find solutions by linear interpolation on points generated by Bezier curves, which are two-dimensional B-spline curves. This study proposes and discusses a method for autonomous driving by means of PID, LQR and hybrid PID+LQR control methods whose parameters are found by using genetic algorithm and whose trajectories are automatically generated by Bezier curves for road following and object avoidance situations.