RT Conference Proceedings
T1 A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort
A1 Lattarulo, Ray
A1 Marti, Enrique
A1 Marcano, Mauricio
A1 Matute, Jose
A1 Perez, Joshue
AB 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.
PB IEEE
SN 978-1-5386-4882-7
SN 978-1-5386-4881-0
SN 9781538648810
YR 2018
FD 2018-05
LA eng
NO 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
NO conference
NO Publisher Copyright: © 2018 IEEE.
DS TECNALIA Publications
RD 1 jul 2024