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

David González, Vicente Milanés, Joshué Pérez, Fawzi Nashashibi

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

36 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas814-819
Número de páginas6
ISBN (versión digital)9781509018895
DOI
EstadoPublicada - 22 dic 2016
Evento19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016 - Rio de Janeiro, Brasil
Duración: 1 nov 20164 nov 2016

Serie de la publicación

NombreIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Conferencia

Conferencia19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
País/TerritorioBrasil
CiudadRio de Janeiro
Período1/11/164/11/16

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