A Complete Framework for a Behavioral Planner with Automated Vehicles: A Car-Sharing Fleet Relocation Approach

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dc.contributor.authorArizala, Asier
dc.contributor.authorZubizarreta, Asier
dc.contributor.authorPérez, Joshué
dc.contributor.institutionCCAM
dc.date.issued2022-11
dc.descriptionPublisher Copyright: © 2022 by the authors.
dc.description.abstractCurrently, research on automated vehicles is strongly related to technological advances to achieve a safe, more comfortable driving process in different circumstances. The main achievements are focused mainly on highway and interurban scenarios. The urban environment remains a complex scenario due to the number of decisions to be made in a restrictive context. In this context, one of the main challenges is the automation of the relocation process of car-sharing in urban areas, where the management of the platooning and automatic parking and de-parking maneuvers needs a solution from the decision point of view. In this work, a novel behavioral planner framework based on a Finite State Machine (FSM) is proposed for car-sharing applications in urban environments. The approach considers four basic maneuvers: platoon following, parking, de-parking, and platoon joining. In addition, a basic V2V communication protocol is proposed to manage the platoon. Maneuver execution is achieved by implementing both classical (i.e., PID) and Model-based Predictive Control (i.e., MPC) for the longitudinal and lateral control problems. The proposed behavioral planner was implemented in an urban scenario with several vehicles using the Carla Simulator, demonstrating that the proposed planner can be helpful to solve the car-sharing fleet relocation problem in cities.en
dc.description.sponsorshipThis research was funded by the Goberment of the Basque Country (funding no. KK-2021/00123 and IT1726-22) and the European SHOW Project from the Horizon 2020 (funding no. 875530).
dc.description.statusPeer reviewed
dc.identifier.citationArizala , A , Zubizarreta , A & Pérez , J 2022 , ' A Complete Framework for a Behavioral Planner with Automated Vehicles : A Car-Sharing Fleet Relocation Approach ' , Sensors , vol. 22 , no. 22 , 8640 . https://doi.org/10.3390/s22228640
dc.identifier.doi10.3390/s22228640
dc.identifier.issn1424-8220
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85142693246&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofSensors
dc.relation.projectIDGoberment of the Basque Country, IT1726-22-KK-2021/00123
dc.relation.projectIDHorizon 2020 Framework Programme, H2020, 875530
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywords3D environment
dc.subject.keywordsautomated vehicle
dc.subject.keywordsbehavioral planner
dc.subject.keywordsplatooning
dc.subject.keywordsAnalytical Chemistry
dc.subject.keywordsInformation Systems
dc.subject.keywordsBiochemistry
dc.subject.keywordsAtomic and Molecular Physics, and Optics
dc.subject.keywordsInstrumentation
dc.subject.keywordsElectrical and Electronic Engineering
dc.subject.keywordsSDG 11 - Sustainable Cities and Communities
dc.titleA Complete Framework for a Behavioral Planner with Automated Vehicles: A Car-Sharing Fleet Relocation Approachen
dc.typejournal article
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