%0 Generic
%A Hidalgo, Carlos
%A Lattarulo, Ray
%A Pérez, Joshué
%A Asua, Estibaliz
%T Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach
%J Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
%D 2020
%@ 0302-9743
%U https://hdl.handle.net/11556/1717
%X 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.
%~