Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety
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2018
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Abstract
In 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.
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Publisher Copyright: © 2018 Ray Lattarulo et al.
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Advanced driver assistance systems , Automation , Automobile drivers , Automotive industry , Advanced driver assistance systems , Automation , Automobile drivers , Automotive industry , Automotive Engineering , Economics and Econometrics , Mechanical Engineering , Computer Science Applications , Strategy and Management , Project ID , info:eu-repo/grantAgreement/EC/H2020/692455/EU/European Initiative to Enable Validation for Highly Automated Safe and Secure Systems/ENABLE-S3 , info: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/AutoDrive , info:eu-repo/grantAgreement/EC/H2020/692455/EU/European Initiative to Enable Validation for Highly Automated Safe and Secure Systems/ENABLE-S3 , info: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/AutoDrive , Funding Info , Tis work was partly supported by ECSEL Project ENABLES3_x000D_ with Grant Agreement no. 692455-2 and the AutoDrive_x000D_ ECSEL Project with Grant Agreement no. 737469 , Tis work was partly supported by ECSEL Project ENABLES3_x000D_ with Grant Agreement no. 692455-2 and the AutoDrive_x000D_ ECSEL Project with Grant Agreement no. 737469
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Lattarulo , R , González , L , Martí , E , Matute , J , Marcano , M & Pérez , J 2018 , ' Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety ' , Journal of Advanced Transportation , vol. 2018 , 6060924 , pp. 1-13 . https://doi.org/10.1155/2018/6060924