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dc.contributor.authorLattarulo, Ray
dc.contributor.authorGonzález, Leonardo
dc.contributor.authorMartí, Enrique
dc.contributor.authorMatute, José
dc.contributor.authorMarcano, Mauricio
dc.contributor.authorPérez, Joshue
dc.date.accessioned2018-10-26T10:00:12Z
dc.date.available2018-10-26T10:00:12Z
dc.date.issued2018
dc.identifier.citationLattarulo, Ray, Leonardo González, Enrique Martí, José Matute, Mauricio Marcano, and Joshue Pérez. “Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety.” Journal of Advanced Transportation 2018 (July 15, 2018): 1–13. doi:10.1155/2018/6060924.en
dc.identifier.issn0197-6729en
dc.identifier.urihttp://hdl.handle.net/11556/635
dc.description.abstractIn last decades, great technology advances have been done related to the automotive sector, especially in Advanced Driver Assistance Systems (ADAS) developed to improve mobility in terms of comfort and safety during driving process; hence, automated driving is presented as an evolution of those systems in the present and upcoming years. The aim of this work is to present a complete framework of motion planning for automated vehicles, considering different constraints with parametric curves for lateral and longitudinal planners. Parametric Bézier curves are used as the core approach for trajectory design in intersections, roundabouts, and lane change maneuvers. Additionally, a speed planner algorithm is presented using the same parametric curve approach, considering comfort and safety. A simulation environment is used for testing the planning method in urban conditions. Finally, tests with the real platform in automated mode have been performed showing goods results.en
dc.description.sponsorshipTis work was partly supported by ECSEL Project ENABLES3 with Grant Agreement no. 692455-2 and the AutoDrive ECSEL Project with Grant Agreement no. 737469en
dc.language.isoengen
dc.publisherHindawi Limiteden
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.titleUrban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safetyen
dc.typearticleen
dc.identifier.doi10.1155/2018/6060924en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/692455/EU/European Initiative to Enable Validation for Highly Automated Safe and Secure Systems/ENABLE-S3en
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 acceptable/AutoDriveen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsAdvanced driver assistance systemsen
dc.subject.keywordsAutomationen
dc.subject.keywordsAutomobile driversen
dc.subject.keywordsAutomotive industryen
dc.identifier.essn2042-3195en
dc.journal.titleJournal of Advanced Transportationen
dc.page.final13en
dc.page.initial1en
dc.volume.number2018en


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