A Spline-Based Path Planning for Lane Keeping in Autonomous Vehicles

HyeongKeun Hong, Jinsun Lee, Eun Ho Kim, Yeong Kwang Choi, Young Hun Seo, Jae Wook Jeon

Abstract: This paper presents a spline-based path planning approach for lane keeping in autonomous vehicles. The method utilizes cubic spline interpolation to generate smooth and continuous paths from target points derived from lane centerline information. By applying spline curves, the vehicle can follow the lane with high precision and stability. The approach is implemented using ROS 2, providing a robust and efficient platform for integration into autonomous driving systems. Simulation results demonstrate the effectiveness of the proposed method in lane keeping tasks, highlighting its potential for improving path planning accuracy in autonomous vehicles.