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dc.contributor.authorLattarulo, Ray
dc.contributor.authorMarti, Enrique
dc.contributor.authorMarcano, Mauricio
dc.contributor.authorMatute, Jose
dc.contributor.authorPerez, Joshue
dc.date.accessioned2018-06-05T12:59:33Z
dc.date.available2018-06-05T12:59:33Z
dc.date.issued2018-05
dc.identifier.citationLattarulo, Ray, Enrique Marti, Mauricio Marcano, Jose Matute, and Joshue Perez. “A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort.” 2018 IEEE International Symposium on Circuits and Systems (ISCAS) (May 2018). doi:10.1109/iscas.2018.8351307.en
dc.identifier.isbn978-1-5386-4882-7en
dc.identifier.issn2379-447Xen
dc.identifier.urihttp://hdl.handle.net/11556/573
dc.description.abstractThis 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.en
dc.description.sponsorshipThis work is partly supported by the H2020 project UnCoVerCPS with grant number 643921, and the H2020 Project STEVE with proposal identification number 769944.en
dc.language.isoengen
dc.publisherIEEEen
dc.titleA Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comforten
dc.typeconferenceObjecten
dc.identifier.doi10.1109/iscas.2018.8351307en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPSen
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVEen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsIntelligent Transportation Systemsen
dc.subject.keywordsAutomated Drivingen
dc.subject.keywordsMotion Planningen
dc.subject.keywordsLongitudinal Controlen
dc.subject.keywordsSpeed Profileen
dc.journal.titleCircuits and Systems (ISCAS), 2018 IEEE International Symposium on Circuits and Systems (ISCAS)en
dc.page.final5en
dc.page.initial1en
dc.identifier.esbn978-1-5386-4881-0en
dc.conference.title2018 IEEE International Symposium on Circuits and Systems (ISCAS)en


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