Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach

Carlos Hidalgo; Ray Lattarulo; Joshué Pérez; Estibaliz Asua

doi:10.1007/978-3-030-45096-0_16

Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach

Carlos Hidalgo, Ray Lattarulo, Joshué Pérez, Estibaliz Asua

Connected, Cooperative & Automated Movility

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

2 Citations (Scopus)

Abstract

Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.

Original language	English
Title of host publication	Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers
Editors	Roberto Moreno-Díaz, Alexis Quesada-Arencibia, Franz Pichler
Publisher	Springer
Pages	129-136
Number of pages	8
ISBN (Print)	9783030450953
DOIs	https://doi.org/10.1007/978-3-030-45096-0_16
Publication status	Published - 2020
Event	17th International Conference on Computer Aided Systems Theory, EUROCAST 2019 - Las Palmas de Gran Canaria, Spain Duration: 17 Feb 2019 → 22 Feb 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	12014 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	17th International Conference on Computer Aided Systems Theory, EUROCAST 2019
Country/Territory	Spain
City	Las Palmas de Gran Canaria
Period	17/02/19 → 22/02/19

Keywords

Bézier Curves
Merging Maneuver
Model Predictive Control

Access to Document

10.1007/978-3-030-45096-0_16

Cite this

Hidalgo, C., Lattarulo, R., Pérez, J., & Asua, E. (2020). Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. In R. Moreno-Díaz, A. Quesada-Arencibia, & F. Pichler (Eds.), Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers (pp. 129-136). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12014 LNCS). Springer. https://doi.org/10.1007/978-3-030-45096-0_16

Hidalgo, Carlos ; Lattarulo, Ray ; Pérez, Joshué et al. / Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers. editor / Roberto Moreno-Díaz ; Alexis Quesada-Arencibia ; Franz Pichler. Springer, 2020. pp. 129-136 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with B{\'e}zier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.",

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author = "Carlos Hidalgo and Ray Lattarulo and Joshu{\'e} P{\'e}rez and Estibaliz Asua",

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Hidalgo, C , Lattarulo, R, Pérez, J & Asua, E 2020, Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. in R Moreno-Díaz, A Quesada-Arencibia & F Pichler (eds), Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 12014 LNCS, Springer, pp. 129-136, 17th International Conference on Computer Aided Systems Theory, EUROCAST 2019, Las Palmas de Gran Canaria, Spain, 17/02/19. https://doi.org/10.1007/978-3-030-45096-0_16

Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. / Hidalgo, Carlos ; Lattarulo, Ray; Pérez, Joshué et al.
Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers. ed. / Roberto Moreno-Díaz; Alexis Quesada-Arencibia; Franz Pichler. Springer, 2020. p. 129-136 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12014 LNCS).

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

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PY - 2020

Y1 - 2020

N2 - Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.

AB - Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.

KW - Bézier Curves

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Hidalgo C , Lattarulo R, Pérez J, Asua E. Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. In Moreno-Díaz R, Quesada-Arencibia A, Pichler F, editors, Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers. Springer. 2020. p. 129-136. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-45096-0_16

Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach

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