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Cognitive Granular-Based Path Planning and Tracking for Intelligent Vehicle with Multi-Segment Bezier Curve Stitching

Xudong Wang1,2, Xueshuai Qin1, Huiyan Zhang2,*, Luis Ismael Minchala3

1 Chongqing Key Laboratory of Manufacturing Equipment Mechanism Design and Control, Chongqing Technology and Business University, Chongqing, 400067, China
2 National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing, 400067, China
3 Department of Electrical Electronics and Telecommunications Engineering, University of Cuenca, Cuenca, Ecuador

* Corresponding Author: Huiyan Zhang. Email:

Intelligent Automation & Soft Computing 2023, 37(1), 385-400.


Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments, such as low intelligence and poor comfort performance in the driving process. The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions. In this paper, in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier curve splicing and model predictive control theory are proposed. Especially, the maximum trajectory curvature satisfying ride comfort is regarded as an important constraint condition, and the corresponding curvature threshold is utilized to calculate the control points of Bezier curve. By using low-order interpolation curve splicing, the planning computation is reduced, and the real-time performance of planning is improved, compared with one-segment curve fitting method. Furthermore, the comfort performance of the planned path is reflected intuitively by the curvature information of the path. Finally, the effectiveness of the proposed control method is verified by the co-simulation platform built by MATLAB/Simulink and Carsim. The simulation results show that the path tracking effect of multi-segment Bezier curve fitting is better than that of high-order curve planning in terms of real-time performance and comfort.


Cite This Article

X. Wang, X. Qin, H. Zhang and L. I. Minchala, "Cognitive granular-based path planning and tracking for intelligent vehicle with multi-segment bezier curve stitching," Intelligent Automation & Soft Computing, vol. 37, no.1, pp. 385–400, 2023.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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