1 Introduction
Nowadays, with increasing traffic flow, autonomous driving technology has become one of the most popular technologies in both industry and academia. Waypoint tracking has been a hot research topic in the past few years and was promoted by several projects, such as Grand Cooperative Driving Challenge (GCDC) project and Co-operative Systems in Support of Networked Automated Driving by 2030 (AutoNet2030). The two most important parts of waypoint tracking are path planning and path tracking. Therefore, many path planning algorithms have been developed, such as waypoint tracking predictive control [1], [2], segmented target points [3]. In [4], a real-time motion planning algorithm based on the rapidly-exploring random tree (RRT) was proposed. On the other hand, tracking techniques of the waypoint tracking problem have been discussed in the lanekeeping situation [5],[6].