Automatic Two-Lane Path Generation for Autonomous Vehicles Using Quartic B-Spline Curves

Taketoshi Suzuki, Riku Usami, Takashi Maekawa*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


In this paper, we introduce an algorithm for generating collision-free two-lane paths for unmanned vehicles used at mining sites by using quartic (degree 4) B-spline curves. Given the boundary geometry of the haul road area and the positions and orientations of the two-dimensional vehicle at the start and goal points, the algorithm automatically generates a collision-free two-lane path that satisfies the minimum turning radius constraint. Moreover, the resulting path shares the same third derivative at knots (joints), i.e., $C^3$ continuity, which guarantees a continuous rate of change of the curvature along the entire path. Examples are provided to demonstrate the effectiveness of the proposed algorithm.

Original languageEnglish
Article number8485301
Pages (from-to)547-558
Number of pages12
JournalIEEE Transactions on Intelligent Vehicles
Issue number4
Publication statusPublished - 2018 Dec
Externally publishedYes


  • B-spline curves
  • autonomous vehicles
  • haul road
  • path planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Automotive Engineering
  • Control and Optimization


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