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

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

18 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781728101422
DOI	https://doi.org/10.1109/ICCVE45908.2019.8964985
Estado	Publicada - nov 2019
Evento	8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Graz, Austria Duración: 4 nov 2019 → 8 nov 2019

Serie de la publicación

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

Conferencia

Conferencia	8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019
País/Territorio	Austria
Ciudad	Graz
Período	4/11/19 → 8/11/19

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 11: Ciudades y comunidades sostenibles

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10.1109/ICCVE45908.2019.8964985

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Hidalgo, C., Lattarulo, R., Perez, J., & Asua, E. (2019). Hybrid trajectory planning approach for roundabout merging scenarios. En 2019 8th IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019 - Proceedings Artículo 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. En 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).

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

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.

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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. En 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

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