In this paper, an algorithm for dynamic path generation in urban environments is presented, taking into account structural and sudden changes in straight and bend segments (e.g. roundabouts and intersections). The results present some improvements in path generation (previously hand plotted) considering parametric equations and continuous-curvature algorithms, which guarantees a comfortable lateral acceleration. This work is focused on smooth and safe path generation using road and obstacle detection information. Finally, some simulation results show a good performance of the algorithm using different ranges of urban curves. The main contribution is an Intelligent Trajectory Generator, which considers infrastructure and vehicle information. This method is recently used in the framework of the project CityMobil2, for urban autonomous guidance of Cybercars.