Table 2.

Summary of this approach advantages.

Technique	Computation Time	Complexity Environment	Constraints	Result
Bézier	low-medium	low-medium	difficult	$C^n$ and $G^n$ continous
Linear MPC	medium	high	easy	fit vehicle dynamics with
				a normal performance
Non-Linear MPC	high	high	easy	fit very well
				vehicle dynamics
Proposed approach (hybrid)	medium	medium	easy-medium	average and fast performance