A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort
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2018-05
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IEEE
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Abstract
This paper presents a speed profile generation approach for longitudinal control of automated vehicles, based on quintic Bézier curves. The described method aims to increase comfort level of passengers based on the ISO2631-1 specification, while taking into account vehicle dynamics and traffic rules to keep high safety levels. The algorithm has been tested in an in-house tool for high accuracy vehicle dynamics simulations, called Dynacar. The considered scenario is a closed circuit inside Tecnalia facilities. The resulting profile has better properties (for example, rate of change) than a raw input based on traffic speed limits. When used as reference for the speed controller, it improves both comfort and safety.
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Publisher Copyright: © 2018 IEEE.
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Intelligent Transportation Systems , Automated Driving , Motion Planning , Longitudinal Control , Speed Profile , Intelligent Transportation Systems , Automated Driving , Motion Planning , Longitudinal Control , Speed Profile , Electrical and Electronic Engineering , SDG 11 - Sustainable Cities and Communities , Project ID , info:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPS , info:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVE , info:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPS , info:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVE , Funding Info , This work is partly supported by the H2020 project_x000D_ UnCoVerCPS with grant number 643921, and the H2020_x000D_ Project STEVE with proposal identification number_x000D_ 769944. , This work is partly supported by the H2020 project_x000D_ UnCoVerCPS with grant number 643921, and the H2020_x000D_ Project STEVE with proposal identification number_x000D_ 769944.
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Lattarulo , R , Marti , E , Marcano , M , Matute , J & Perez , J 2018 , A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort . in unknown . 0271-4310 , IEEE , pp. 1-5 , 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 , Florence , Italy , 27/05/18 . https://doi.org/10.1109/iscas.2018.8351307
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