A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort

Ray Lattarulo; Enrique Marti; Mauricio Marcano; Jose Matute; Joshue Perez

doi:10.1109/iscas.2018.8351307

A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort

Ray Lattarulo, Enrique Marti, Mauricio Marcano, Jose Matute, Joshue Perez

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Citations (Scopus)

1 Downloads (Pure)

Abstract

This paper presents a speed profile generation approach for longitudinal control of automated vehicles, based on quintic Bézier curves. The described method aims to increase comfort level of passengers based on the ISO2631-1 specification, while taking into account vehicle dynamics and traffic rules to keep high safety levels. The algorithm has been tested in an in-house tool for high accuracy vehicle dynamics simulations, called Dynacar. The considered scenario is a closed circuit inside Tecnalia facilities. The resulting profile has better properties (for example, rate of change) than a raw input based on traffic speed limits. When used as reference for the speed controller, it improves both comfort and safety.

Original language	English
Title of host publication	unknown
Publisher	IEEE
Pages	1-5
Number of pages	5
ISBN (Electronic)	978-1-5386-4881-0, 9781538648810
ISBN (Print)	978-1-5386-4882-7
DOIs	https://doi.org/10.1109/iscas.2018.8351307
Publication status	Published - May 2018
Event	2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Florence, Italy Duration: 27 May 2018 → 30 May 2018

Publication series

Name	0271-4310

Conference

Conference	2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018
Country/Territory	Italy
City	Florence
Period	27/05/18 → 30/05/18

Keywords

Intelligent Transportation Systems
Automated Driving
Motion Planning
Longitudinal Control
Speed Profile

Project and Funding Information

Project ID
info:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPS
info:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVE
Funding Info
This work is partly supported by the H2020 project_x000D_ UnCoVerCPS with grant number 643921, and the H2020_x000D_ Project STEVE with proposal identification number_x000D_ 769944.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/iscas.2018.8351307

PID5225957Final published version, 1.75 MB

Cite this

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title = "A Speed Planner Approach Based On B{\'e}zier Curves Using Vehicle Dynamic Constrains and Passengers Comfort",

abstract = "This paper presents a speed profile generation approach for longitudinal control of automated vehicles, based on quintic B{\'e}zier curves. The described method aims to increase comfort level of passengers based on the ISO2631-1 specification, while taking into account vehicle dynamics and traffic rules to keep high safety levels. The algorithm has been tested in an in-house tool for high accuracy vehicle dynamics simulations, called Dynacar. The considered scenario is a closed circuit inside Tecnalia facilities. The resulting profile has better properties (for example, rate of change) than a raw input based on traffic speed limits. When used as reference for the speed controller, it improves both comfort and safety.",

keywords = "Intelligent Transportation Systems, Automated Driving, Motion Planning, Longitudinal Control, Speed Profile, Intelligent Transportation Systems, Automated Driving, Motion Planning, Longitudinal Control, Speed Profile",

author = "Ray Lattarulo and Enrique Marti and Mauricio Marcano and Jose Matute and Joshue Perez",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 ; Conference date: 27-05-2018 Through 30-05-2018",

year = "2018",

month = may,

doi = "10.1109/iscas.2018.8351307",

language = "English",

isbn = "978-1-5386-4882-7",

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T1 - A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort

AU - Lattarulo, Ray

AU - Marti, Enrique

AU - Marcano, Mauricio

AU - Matute, Jose

AU - Perez, Joshue

PY - 2018/5

Y1 - 2018/5

N2 - This paper presents a speed profile generation approach for longitudinal control of automated vehicles, based on quintic Bézier curves. The described method aims to increase comfort level of passengers based on the ISO2631-1 specification, while taking into account vehicle dynamics and traffic rules to keep high safety levels. The algorithm has been tested in an in-house tool for high accuracy vehicle dynamics simulations, called Dynacar. The considered scenario is a closed circuit inside Tecnalia facilities. The resulting profile has better properties (for example, rate of change) than a raw input based on traffic speed limits. When used as reference for the speed controller, it improves both comfort and safety.

AB - This paper presents a speed profile generation approach for longitudinal control of automated vehicles, based on quintic Bézier curves. The described method aims to increase comfort level of passengers based on the ISO2631-1 specification, while taking into account vehicle dynamics and traffic rules to keep high safety levels. The algorithm has been tested in an in-house tool for high accuracy vehicle dynamics simulations, called Dynacar. The considered scenario is a closed circuit inside Tecnalia facilities. The resulting profile has better properties (for example, rate of change) than a raw input based on traffic speed limits. When used as reference for the speed controller, it improves both comfort and safety.

KW - Intelligent Transportation Systems

KW - Automated Driving

KW - Motion Planning

KW - Longitudinal Control

KW - Speed Profile

KW - Intelligent Transportation Systems

KW - Automated Driving

KW - Motion Planning

KW - Longitudinal Control

KW - Speed Profile

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U2 - 10.1109/iscas.2018.8351307

DO - 10.1109/iscas.2018.8351307

M3 - Conference contribution

SN - 978-1-5386-4882-7

T3 - 0271-4310

SP - 1

EP - 5

BT - unknown

PB - IEEE

T2 - 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018

Y2 - 27 May 2018 through 30 May 2018

ER -

A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort

Abstract

Publication series

Conference

Keywords

Project and Funding Information

UN SDGs

Access to Document

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Cite this