Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach

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URI: https://hdl.handle.net/11556/1717
ISSN: 0302-9743
ISBN: 9783030450953
DOI: 10.1007/978-3-030-45096-0_16
Publication date
2020
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Springer
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Abstract
Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.
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Publisher Copyright: © 2020, Springer Nature Switzerland AG.
Keywords
Bézier Curves , Merging Maneuver , Model Predictive Control , Theoretical Computer Science , General Computer Science
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conference output
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Hidalgo , C , Lattarulo , R , Pérez , J & Asua , E 2020 , Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach . in R Moreno-Díaz , A Quesada-Arencibia & F Pichler (eds) , Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 12014 LNCS , Springer , pp. 129-136 , 17th International Conference on Computer Aided Systems Theory, EUROCAST 2019 , Las Palmas de Gran Canaria , Spain , 17/02/19 . https://doi.org/10.1007/978-3-030-45096-0_16
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