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dc.contributor.authorLattarulo, Ray
dc.contributor.authorPerez, Joshue
dc.date.accessioned2021-01-12T15:23:01Z
dc.date.available2021-01-12T15:23:01Z
dc.date.issued2020
dc.identifier.citationR. Lattarulo and J. Perez, "Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles," 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, 2020, pp. 1-6, doi: 10.1109/ITSC45102.2020.9294658.en
dc.identifier.isbn978-1-7281-4150-3en
dc.identifier.urihttp://hdl.handle.net/11556/1046
dc.description.abstractAutomated driving (AD) is one of the fastest-growing tendencies in the Intelligent Transportation Systems (ITS) field with some interesting demonstrations and prototypes. Currently, the main research topics are aligned with vehicle communications, environment recognition, control, and decision-making. A real-time trajectory planning method for Automated vehicles (AVs) is presented in this paper; the contribution is part of AD’s decision-making module. This novel approach uses the properties of the 3er order Bézier curves to generate fast and reliable vehicle trajectories. Online execution and vehicle tracking capacities are considered on the approach. A feasible trajectory is selected based on the criteria: (i) the vehicle must be contained by a collision-free corridor given by an upper decision layer, (ii) the vehicle must be capable to track the generated trajectory, and (iii) the continuity of the path and curvature must be preserved in the joints. Our approach was tested considering a vehicle length (automated bus) of 12 meters. The scenario has the dimension of a real test location with multiple roundabouts.en
dc.description.sponsorshipThis work was supported by the European AutoDrive project from the ECSEL program under the grant agreement No 737469, and the European SHOW Project from the Horizon 2020 program under the grant agreement No 875530.en
dc.language.isoengen
dc.publisherIEEEen
dc.titleFast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehiclesen
dc.typeconferenceObjecten
dc.identifier.doi10.1109/ITSC45102.2020.9294658en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/737469/EU/Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user aceptable/AutoDriveen
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOWen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsTrajectoryen
dc.subject.keywordsTrajectory planningen
dc.subject.keywordsOptimizationen
dc.subject.keywordsReal-time systemsen
dc.subject.keywordsTask analysisen
dc.subject.keywordsKinematicsen
dc.subject.keywordsGeometryen
dc.page.final6en
dc.page.initial1en
dc.identifier.esbn978-1-7281-4149-7en
dc.conference.title2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)en


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