RT Conference Proceedings
T1 Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach
A1 Hidalgo, Carlos
A1 Lattarulo, Ray
A1 Pérez, Joshué
A1 Asua, Estibaliz
A2 Moreno-Díaz, Roberto
A2 Quesada-Arencibia, Alexis
A2 Pichler, Franz
AB 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.
PB Springer
SN 9783030450953
SN 0302-9743
YR 2020
FD 2020
LK https://hdl.handle.net/11556/1717
UL https://hdl.handle.net/11556/1717
LA eng
NO Hidalgo , C , Lattarulo , R , Pérez , J & Asua , E 2020 , Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach . in R Moreno-Díaz , A Quesada-Arencibia & F Pichler (eds) , Computer Aided Systems Theory – EUROCAST 2019 - 17th International Conference, Revised Selected Papers . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 12014 LNCS , Springer , pp. 129-136 , 17th International Conference on Computer Aided Systems Theory, EUROCAST 2019 , Las Palmas de Gran Canaria , Spain , 17/02/19 . https://doi.org/10.1007/978-3-030-45096-0_16
NO conference
NO Publisher Copyright: © 2020, Springer Nature Switzerland AG.
NO Acknowledgment. This work was supported in part by the ECSEL Project ENABLE-S3 with grant agreement number 692455-2 and the Spanish Ministry of Economy, Industry and Competitiveness TEC2016-77618-R (AEI/FEDER, UE).
DS TECNALIA Publications
RD 29 sept 2024