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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

13 Citas (Scopus)

2 Descargas (Pure)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	unknown
Editorial	IEEE
Páginas	1-5
Número de páginas	5
ISBN (versión digital)	978-1-5386-4881-0, 9781538648810
ISBN (versión impresa)	978-1-5386-4882-7
DOI	https://doi.org/10.1109/iscas.2018.8351307
Estado	Publicada - may 2018
Evento	2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Florence, Italia Duración: 27 may 2018 → 30 may 2018

Serie de la publicación

Nombre	0271-4310

Conferencia

Conferencia	2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018
País/Territorio	Italia
Ciudad	Florence
Período	27/05/18 → 30/05/18

Palabras clave

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.

ODS de las Naciones Unidas

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10.1109/iscas.2018.8351307

PID5225957Versión publicada final, 1,75 MB

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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",

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AU - Matute, Jose

AU - Perez, Joshue

PY - 2018/5

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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.

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

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

Resumen

Serie de la publicación

Conferencia

Palabras clave

Project and Funding Information

ODS de las Naciones Unidas

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