Hidalgo, CarlosLattarulo, RayPérez, JoshuéAsua, EstibalizMoreno-Díaz, RobertoQuesada-Arencibia, AlexisPichler, Franz2024-07-242024-07-242020Hidalgo , 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_16conference97830304509530302-9743https://hdl.handle.net/11556/1717Publisher Copyright: © 2020, Springer Nature Switzerland AG.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.8enginfo:eu-repo/semantics/restrictedAccessconference output10.1007/978-3-030-45096-0_16Bézier CurvesMerging ManeuverModel Predictive ControlTheoretical Computer ScienceGeneral Computer Sciencehttp://www.scopus.com/inward/record.url?scp=85083964543&partnerID=8YFLogxK