@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",
}
