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This paper proposes to combine a 10Hz motion planner based on a kinematicbicycle Model Predictive Control (MPC) and a 100Hz closed-loopProportional-Integral-Derivative (PID) controller to cope with normal drivingsituations. Its novelty consists in ensuring the feasibility of the computedtrajectory by the motion planner through a limitation of the steering angledepending on the speed. This ensures the validity of the kinematic bicyclemodel at any time. The architecture is tested on a high-fidelity simulationmodel on a challenging track with small curve radius, with and withoutsurrounding obstacles.

Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model