RT Journal Article
T1 Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety
A1 Lattarulo, Ray
A1 González, Leonardo
A1 Martí, Enrique
A1 Matute, José
A1 Marcano, Mauricio
A1 Pérez, Joshue
AB In 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.
SN 0197-6729
YR 2018
FD 2018
LA eng
NO Lattarulo , 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
NO Publisher Copyright: © 2018 Ray Lattarulo et al.
DS TECNALIA Publications
RD 23 jul 2024