Browsing by Keyword "info:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOW"
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Item Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles(IEEE, 2020-09-20) Lattarulo, Ray; Perez, Joshue; CCAMAutomated 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.Item Platoon Merging Approach Based on Hybrid Trajectory Planning and CACC Strategies(2021-04-08) Hidalgo, Carlos; Lattarulo, Ray; Flores, Carlos; Pérez Rastelli, Joshué; CCAMCurrently, the increase of transport demands along with the limited capacity of the road network have increased traffic congestion in urban and highway scenarios. Technologies such as Cooperative Adaptive Cruise Control (CACC) emerge as efficient solutions. However, a higher level of cooperation among multiple vehicle platoons is needed to improve, effectively, the traffic flow. In this paper, a global solution to merge two platoons is presented. This approach combines: (i) a longitudinal controller based on a feed-back/feed-forward architecture focusing on providing CACC capacities and (ii) hybrid trajectory planning to merge platooning on straight paths. Experiments were performed using Tecnalia’s previous basis. These are the AUDRIC modular architecture for automated driving and the highly reliable simulation environment DYNACAR. A simulation test case was conducted using five vehicles, two of them executing the merging and three opening the gap to the upcoming vehicles. The results showed the good performance of both domains, longitudinal and lateral, merging multiple vehicles while ensuring safety and comfort and without propagating speed changes.Item Real-Time Trajectory Planning Method Based On N-Order Curve Optimization(Institute of Electrical and Electronics Engineers Inc., 2020-10-08) Lattarulo, Ray; Gonzalez, Leonardo; Perez, Joshue; Barbulescu, Lucian-Florentin; CCAMIn recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers' comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.