This dissertation, titled "Piecewise Linear Continuous-Curvature Path Planning for Autonomous Vehicles," is authored by Júnior Anderson Rodrigues da Silva and submitted to the School of Engineering of São Carlos at the University of São Paulo for the degree of Master in Electrical Engineering. The research focuses on developing a path planning method for autonomous vehicles with non-holonomic constraints, using piecewise linear continuous-curvature paths composed of clothoids, circular arcs, and straight lines to ensure passenger comfort. The road network is modeled from GPS vehicle trajectories, defining lanes, roundabouts, and intersections. GPS points are used to parameterize lanes using clothoids and extract roundabout centers and radii. A global path planner calculates the shortest route from the vehicle's current position to the destination, while intersection and roundabout path planners compute paths based on road connections. Lane change paths are also planned to obey traffic rules. The resulting continuous-curvature path is smooth and feasible for the vehicle to track. The dissertation includes a detailed technical background, related work, and practical results validated in a real urban scenario.This dissertation, titled "Piecewise Linear Continuous-Curvature Path Planning for Autonomous Vehicles," is authored by Júnior Anderson Rodrigues da Silva and submitted to the School of Engineering of São Carlos at the University of São Paulo for the degree of Master in Electrical Engineering. The research focuses on developing a path planning method for autonomous vehicles with non-holonomic constraints, using piecewise linear continuous-curvature paths composed of clothoids, circular arcs, and straight lines to ensure passenger comfort. The road network is modeled from GPS vehicle trajectories, defining lanes, roundabouts, and intersections. GPS points are used to parameterize lanes using clothoids and extract roundabout centers and radii. A global path planner calculates the shortest route from the vehicle's current position to the destination, while intersection and roundabout path planners compute paths based on road connections. Lane change paths are also planned to obey traffic rules. The resulting continuous-curvature path is smooth and feasible for the vehicle to track. The dissertation includes a detailed technical background, related work, and practical results validated in a real urban scenario.