A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort

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dc.contributor.authorLattarulo, Ray
dc.contributor.authorMarti, Enrique
dc.contributor.authorMarcano, Mauricio
dc.contributor.authorMatute, Jose
dc.contributor.authorPerez, Joshue
dc.contributor.institutionCCAM
dc.contributor.institutionTecnalia Research & Innovation
dc.date.issued2018-05
dc.descriptionPublisher Copyright: © 2018 IEEE.
dc.description.abstractThis 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.en
dc.description.statusPeer reviewed
dc.format.extent5
dc.format.extent1833732
dc.identifier.citationLattarulo , 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
dc.identifier.citationconference
dc.identifier.doi10.1109/iscas.2018.8351307
dc.identifier.isbn978-1-5386-4882-7
dc.identifier.isbn978-1-5386-4881-0
dc.identifier.isbn9781538648810
dc.identifier.otherresearchoutputwizard: 11556/573
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85056783093&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherIEEE
dc.relation.ispartofunknown
dc.relation.ispartofseries0271-4310
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsIntelligent Transportation Systems
dc.subject.keywordsAutomated Driving
dc.subject.keywordsMotion Planning
dc.subject.keywordsLongitudinal Control
dc.subject.keywordsSpeed Profile
dc.subject.keywordsIntelligent Transportation Systems
dc.subject.keywordsAutomated Driving
dc.subject.keywordsMotion Planning
dc.subject.keywordsLongitudinal Control
dc.subject.keywordsSpeed Profile
dc.subject.keywordsElectrical and Electronic Engineering
dc.subject.keywordsSDG 11 - Sustainable Cities and Communities
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPS
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVE
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPS
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVE
dc.subject.keywordsFunding Info
dc.subject.keywordsThis 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.
dc.subject.keywordsThis 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.
dc.titleA Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comforten
dc.typeconference output
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