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

^*Autor correspondiente de este trabajo

CCAM

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

2 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers
Editores	Roberto Moreno-Díaz, Alexis Quesada-Arencibia, Franz Pichler
Editorial	Springer
Páginas	129-136
Número de páginas	8
ISBN (versión impresa)	9783030450953
DOI	https://doi.org/10.1007/978-3-030-45096-0_16
Estado	Publicada - 2020
Evento	17th International Conference on Computer Aided Systems Theory, EUROCAST 2019 - Las Palmas de Gran Canaria, Espana Duración: 17 feb 2019 → 22 feb 2019

Serie de la publicación

Nombre	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen	12014 LNCS
ISSN (versión impresa)	0302-9743
ISSN (versión digital)	1611-3349

Conferencia

Conferencia	17th International Conference on Computer Aided Systems Theory, EUROCAST 2019
País/Territorio	Espana
Ciudad	Las Palmas de Gran Canaria
Período	17/02/19 → 22/02/19

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

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Hidalgo, C., Lattarulo, R., Pérez, J., & Asua, E. (2020). Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. En 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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title = "Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach",

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. En 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, Espana, 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).

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

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AU - Asua, Estibaliz

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. En Moreno-Díaz R, Quesada-Arencibia A, Pichler F, editores, 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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