I. Introduction
Generating a smooth trajectory and tracking it precisely is essential for lateral autonomous and assisted driving features. While global path planning algorithms, such as the A* algorithm [1] [2], are complex, local trajectory generation methods mainly involve curve fitting techniques like clothoid curves [3], polynomial curves [4] [5], spline curves [6], and Bezier curves [7], which are geometric in nature and have low computational costs. On the other hand, trajectory tracking for lateral motion controllers includes Model Predictive Control [8] [9], LQR [10], and several variants of classical PID controllers [11] [12]. A comprehensive review of motion planning and motion controls can be found in [13] and [14].