Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

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dc.contributor.authorLattarulo, Ray
dc.contributor.authorGonzález, Leonardo
dc.contributor.authorMartí, Enrique
dc.contributor.authorMatute, José
dc.contributor.authorMarcano, Mauricio
dc.contributor.authorPérez, Joshue
dc.contributor.institutionCCAM
dc.contributor.institutionTecnalia Research & Innovation
dc.date.issued2018
dc.descriptionPublisher Copyright: © 2018 Ray Lattarulo et al.
dc.description.abstractIn 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.en
dc.description.statusPeer reviewed
dc.format.extent13
dc.format.extent3006573
dc.identifier.citationLattarulo , 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
dc.identifier.doi10.1155/2018/6060924
dc.identifier.issn0197-6729
dc.identifier.otherresearchoutputwizard: 11556/635
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85051036692&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofJournal of Advanced Transportation
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsAdvanced driver assistance systems
dc.subject.keywordsAutomation
dc.subject.keywordsAutomobile drivers
dc.subject.keywordsAutomotive industry
dc.subject.keywordsAdvanced driver assistance systems
dc.subject.keywordsAutomation
dc.subject.keywordsAutomobile drivers
dc.subject.keywordsAutomotive industry
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsEconomics and Econometrics
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsStrategy and Management
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/692455/EU/European Initiative to Enable Validation for Highly Automated Safe and Secure Systems/ENABLE-S3
dc.subject.keywordsinfo: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
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/692455/EU/European Initiative to Enable Validation for Highly Automated Safe and Secure Systems/ENABLE-S3
dc.subject.keywordsinfo: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
dc.subject.keywordsFunding Info
dc.subject.keywordsTis 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
dc.subject.keywordsTis 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
dc.titleUrban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safetyen
dc.typejournal article
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