An apparatus including: input interface circuitry configured to obtain input data associated with a vehicle; threshold calculation circuitry configured to calculate, based on the input data, a threshold curvature and a threshold curvature rate of the vehicle; acquisition path generation circuitry configured to: select a first point on a target path of the vehicle; generate a first acquisition path from a current position of the vehicle to the first point, the first acquisition path including at least two curves and cause storage of the first acquisition path in response to that the at least two curves satisfying the threshold curvature and the threshold curvature rate; select a second point on the target path; and generate a second acquisition path from the current position of the vehicle to the second point, the second acquisition path satisfying the threshold curvature and the threshold curvature rate; and acquisition path selection circuitry configured to calculate a first path length of the first acquisition path and a second path length of the second acquisition path; to select a lesser one of the first path length or the second path length; and to cause storage of the first acquisition path or the second acquisition path as acquisition path solution for a vehicle control circuitry corresponding to the lesser one of the first path length or the second path length. input interface circuitry configured to obtain input data associated with a vehicle; threshold calculation circuitry configured to calculate, based on the input data, a threshold curvature and a threshold curvature rate of the vehicle; acquisition path generation circuitry configured to: select a first point on a target path of the vehicle; generate a first acquisition path from a current position of the vehicle to the first point, the first acquisition path including at least two curves and cause storage of the first acquisition path in response to that the at least two curves satisfying the threshold curvature and the threshold curvature rate; select a second point on the target path; and generate a second acquisition path from the current position of the vehicle to the second point, the second acquisition path satisfying the threshold curvature and the threshold curvature rate; and select a first point on a target path of the vehicle; generate a first acquisition path from a current position of the vehicle to the first point, the first acquisition path including at least two curves and cause storage of the first acquisition path in response to that the at least two curves satisfying the threshold curvature and the threshold curvature rate; select a second point on the target path; and generate a second acquisition path from the current position of the vehicle to the second point, the second acquisition path satisfying the threshold curvature and the threshold curvature rate; and acquisition path selection circuitry configured to calculate a first path length of the first acquisition path and a second path length of the second acquisition path; to select a lesser one of the first path length or the second path length; and to cause storage of the first acquisition path or the second acquisition path as acquisition path solution for a vehicle control circuitry corresponding to the lesser one of the first path length or the second path length.