Speed profile generation based on quintic bezier curves for enhanced passenger comfort

David González; Vicente Milanés; Joshué Pérez; Fawzi Nashashibi

doi:10.1109/ITSC.2016.7795649

Speed profile generation based on quintic bezier curves for enhanced passenger comfort

David González
, Vicente Milanés
, Joshué Pérez
, Fawzi Nashashibi

Institut national de recherche en informatique et en automatique

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

38 Citations (Scopus)

Abstract

Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bezier curves, is presented. This approach permits to improve the comfort in automated vehicles by constraining the global acceleration in the whole ride. Moreover, a comparison with a Jerk limitation algorithm for continuous acceleration profile and a smooth speed profile is performed. The quintic Bezier curves assure continuity of velocity curves and therefore a smooth Jerk and acceleration profiles. The ISO 2631-1 standard, for evaluation of human exposure to whole-body vibration, is considered in both methods for lateral and longitudinal comfort constraints. Simulations show that this approach improves comfort by smoothing the acceleration and jerk profiles, while also constraining the total acceleration perceived by the passengers.

Original language	English
Title of host publication	2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	814-819
Number of pages	6
ISBN (Electronic)	9781509018895
DOIs	https://doi.org/10.1109/ITSC.2016.7795649
Publication status	Published - 22 Dec 2016
Event	19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016 - Rio de Janeiro, Brazil Duration: 1 Nov 2016 → 4 Nov 2016

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Conference

Conference	19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
Country/Territory	Brazil
City	Rio de Janeiro
Period	1/11/16 → 4/11/16

UN SDGs

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

SDG 7 Affordable and Clean Energy
SDG 9 Industry, Innovation, and Infrastructure
SDG 11 Sustainable Cities and Communities
SDG 12 Responsible Consumption and Production

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10.1109/ITSC.2016.7795649

Cite this

González, D., Milanés, V., Pérez, J., & Nashashibi, F. (2016). Speed profile generation based on quintic bezier curves for enhanced passenger comfort. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016 (pp. 814-819). Article 7795649 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2016.7795649

González, David ; Milanés, Vicente ; Pérez, Joshué et al. / Speed profile generation based on quintic bezier curves for enhanced passenger comfort. 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 814-819 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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title = "Speed profile generation based on quintic bezier curves for enhanced passenger comfort",

abstract = "Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bezier curves, is presented. This approach permits to improve the comfort in automated vehicles by constraining the global acceleration in the whole ride. Moreover, a comparison with a Jerk limitation algorithm for continuous acceleration profile and a smooth speed profile is performed. The quintic Bezier curves assure continuity of velocity curves and therefore a smooth Jerk and acceleration profiles. The ISO 2631-1 standard, for evaluation of human exposure to whole-body vibration, is considered in both methods for lateral and longitudinal comfort constraints. Simulations show that this approach improves comfort by smoothing the acceleration and jerk profiles, while also constraining the total acceleration perceived by the passengers.",

author = "David Gonz{\'a}lez and Vicente Milan{\'e}s and Joshu{\'e} P{\'e}rez and Fawzi Nashashibi",

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doi = "10.1109/ITSC.2016.7795649",

language = "English",

series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",

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González, D, Milanés, V, Pérez, J & Nashashibi, F 2016, Speed profile generation based on quintic bezier curves for enhanced passenger comfort. in 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016., 7795649, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc., pp. 814-819, 19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016, Rio de Janeiro, Brazil, 1/11/16. https://doi.org/10.1109/ITSC.2016.7795649

Speed profile generation based on quintic bezier curves for enhanced passenger comfort. / González, David; Milanés, Vicente; Pérez, Joshué et al.
2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 814-819 7795649 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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

TY - GEN

T1 - Speed profile generation based on quintic bezier curves for enhanced passenger comfort

AU - González, David

AU - Milanés, Vicente

AU - Pérez, Joshué

AU - Nashashibi, Fawzi

PY - 2016/12/22

Y1 - 2016/12/22

N2 - Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bezier curves, is presented. This approach permits to improve the comfort in automated vehicles by constraining the global acceleration in the whole ride. Moreover, a comparison with a Jerk limitation algorithm for continuous acceleration profile and a smooth speed profile is performed. The quintic Bezier curves assure continuity of velocity curves and therefore a smooth Jerk and acceleration profiles. The ISO 2631-1 standard, for evaluation of human exposure to whole-body vibration, is considered in both methods for lateral and longitudinal comfort constraints. Simulations show that this approach improves comfort by smoothing the acceleration and jerk profiles, while also constraining the total acceleration perceived by the passengers.

AB - Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bezier curves, is presented. This approach permits to improve the comfort in automated vehicles by constraining the global acceleration in the whole ride. Moreover, a comparison with a Jerk limitation algorithm for continuous acceleration profile and a smooth speed profile is performed. The quintic Bezier curves assure continuity of velocity curves and therefore a smooth Jerk and acceleration profiles. The ISO 2631-1 standard, for evaluation of human exposure to whole-body vibration, is considered in both methods for lateral and longitudinal comfort constraints. Simulations show that this approach improves comfort by smoothing the acceleration and jerk profiles, while also constraining the total acceleration perceived by the passengers.

UR - https://www.scopus.com/pages/publications/85010064670

U2 - 10.1109/ITSC.2016.7795649

DO - 10.1109/ITSC.2016.7795649

M3 - Conference contribution

AN - SCOPUS:85010064670

T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

SP - 814

EP - 819

BT - 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016

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González D, Milanés V, Pérez J, Nashashibi F. Speed profile generation based on quintic bezier curves for enhanced passenger comfort. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 814-819. 7795649. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC.2016.7795649

Speed profile generation based on quintic bezier curves for enhanced passenger comfort

Abstract

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UN SDGs

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