  Autonomous vehicle's technology is expected to be disruptive for automotive
industry in next years. This paper proposes a novel real-time trajectory
planner based on a Nonlinear Model Predictive Control (NMPC) algorithm. A
nonlinear single track vehicle model with Pacejka's lateral tyre formulas has
been implemented. The numerical solution of the NMPC problem is obtained by
means of the implementation of a novel genetic algorithm strategy. Numerical
results are discussed through simulations that shown a reasonable behavior of
the proposed strategy in presence of static or moving obstacles as well as in a
wide rage of road friction conditions. Moreover a real-time implementation is
made possible by the reported computational time analysis.
