Hybrid trajectory planning approach for roundabout merging scenarios

Carlos Hidalgo; Ray Lattarulo; Joshue Perez; Estibaliz Asua

doi:10.1109/ICCVE45908.2019.8964985

Hybrid trajectory planning approach for roundabout merging scenarios

Carlos Hidalgo
, Ray Lattarulo
, Joshue Perez
, Estibaliz Asua

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

18 Citations (Scopus)

Abstract

Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through Bézier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.

Original language	English
Title of host publication	2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728101422
DOIs	https://doi.org/10.1109/ICCVE45908.2019.8964985
Publication status	Published - Nov 2019
Event	8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Graz, Austria Duration: 4 Nov 2019 → 8 Nov 2019

Publication series

Name	2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings

Conference

Conference	8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019
Country/Territory	Austria
City	Graz
Period	4/11/19 → 8/11/19

UN SDGs

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

SDG 11 Sustainable Cities and Communities

Keywords

Bezier Curves
Intelligent Transportation Systems
Merging
Model Predictive Control
Roundabouts

Access to Document

10.1109/ICCVE45908.2019.8964985

Cite this

Hidalgo, C., Lattarulo, R., Perez, J., & Asua, E. (2019). Hybrid trajectory planning approach for roundabout merging scenarios. In 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings Article 8964985 (2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCVE45908.2019.8964985

Hidalgo, Carlos ; Lattarulo, Ray ; Perez, Joshue et al. / Hybrid trajectory planning approach for roundabout merging scenarios. 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. (2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings).

@inproceedings{cf2a39d2b4c4440aa008155423599bfd,

title = "Hybrid trajectory planning approach for roundabout merging scenarios",

abstract = "Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through B{\'e}zier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.",

keywords = "Bezier Curves, Intelligent Transportation Systems, Merging, Model Predictive Control, Roundabouts",

author = "Carlos Hidalgo and Ray Lattarulo and Joshue Perez and Estibaliz Asua",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 ; Conference date: 04-11-2019 Through 08-11-2019",

year = "2019",

month = nov,

doi = "10.1109/ICCVE45908.2019.8964985",

language = "English",

series = "2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings",

address = "United States",

}

Hidalgo, C , Lattarulo, R, Perez, J & Asua, E 2019, Hybrid trajectory planning approach for roundabout merging scenarios. in 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings., 8964985, 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019, Graz, Austria, 4/11/19. https://doi.org/10.1109/ICCVE45908.2019.8964985

Hybrid trajectory planning approach for roundabout merging scenarios. / Hidalgo, Carlos ; Lattarulo, Ray; Perez, Joshue et al.
2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. 8964985 (2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings).

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

TY - GEN

T1 - Hybrid trajectory planning approach for roundabout merging scenarios

AU - Hidalgo, Carlos

AU - Lattarulo, Ray

AU - Perez, Joshue

AU - Asua, Estibaliz

PY - 2019/11

Y1 - 2019/11

N2 - Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through Bézier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.

AB - Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through Bézier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.

KW - Bezier Curves

KW - Intelligent Transportation Systems

KW - Merging

KW - Model Predictive Control

KW - Roundabouts

UR - https://www.scopus.com/pages/publications/85079330532

U2 - 10.1109/ICCVE45908.2019.8964985

DO - 10.1109/ICCVE45908.2019.8964985

M3 - Conference contribution

AN - SCOPUS:85079330532

T3 - 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings

BT - 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019

Y2 - 4 November 2019 through 8 November 2019

ER -

Hidalgo C , Lattarulo R, Perez J, Asua E. Hybrid trajectory planning approach for roundabout merging scenarios. In 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. 8964985. (2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings). doi: 10.1109/ICCVE45908.2019.8964985

Hybrid trajectory planning approach for roundabout merging scenarios

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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