Advanced Trajectory Planning and Control for Autonomous Vehicles with Quintic Polynomials.

This paper focuses on the design of vehicle trajectories and their control systems. A method based on quintic polynomials is utilized to develop trajectories for intelligent vehicles, ensuring the smooth continuity of the trajectory and related state curves under varying conditions. The construction of lateral and longitudinal controllers is discussed, which includes a tracking error model derived from the two-degree-of-freedom dynamic model of a two-wheeled vehicle and the application of the Frenet coordinate system transformation.