Browsing by Author "Marti, Enrique"
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Item Adaptable Emergency Braking Based on a Fuzzy Controller and a Predictive Model(IEEE, 2018-11) Alarcon, Leonardo Gonzalez; Vaca Recalde, Myriam Elizabeth; Marcano, Mauricio; Marti, Enrique; Tecnalia Research & Innovation; CCAMThis work presents the implementation of an adaptable emergency braking system for low speed collision avoidance, based on a frontal laser scanner for static obstacle detection, using a D-GPS system for positioning. A fuzzy logic decision process performs a criticality assessment that triggers the emergency braking system and modulates its behavior. This criticality is evaluated through the use of a predictive model based on a kinematic estimation, which modulates the decision to brake. Additionally a critical study is conducted in order to provide a benchmark for comparison, and evaluate the limits of the predictive model. The braking decision is based on a parameterizable braking model tuned for the target vehicle, that takes into account factors such as reaction time, distance to obstacles, vehicle velocity and maximum deceleration. Once activated, braking force is adapted to reduce vehicle occupants discomfort while ensuring safety throughout the process. The system was implemented on a real vehicle and proper operation is validated through extensive testing carried out at Tecnalia facilities.Item A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort(IEEE, 2018-05) Lattarulo, Ray; Marti, Enrique; Marcano, Mauricio; Matute, Jose; Perez, Joshue; CCAM; Tecnalia Research & InnovationThis 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.