A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort

Lattarulo, RayMarti, EnriqueMarcano, MauricioMatute, JosePerez, Joshue2018-05Lattarulo , 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.2018.8351307conference978-1-5386-4882-7978-1-5386-4881-09781538648810researchoutputwizard: 11556/573Publisher Copyright: © 2018 IEEE.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.51833732enginfo:eu-repo/semantics/openAccessA Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfortconference output10.1109/iscas.2018.8351307Intelligent Transportation SystemsAutomated DrivingMotion PlanningLongitudinal ControlSpeed ProfileIntelligent Transportation SystemsAutomated DrivingMotion PlanningLongitudinal ControlSpeed ProfileElectrical and Electronic EngineeringSDG 11 - Sustainable Cities and CommunitiesProject IDinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPSinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVEinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UNCOVERCPSinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/ Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/ STEVEFunding InfoThis work is partly supported by the H2020 project_x000D_ UnCoVerCPS with grant number 643921, and the H2020_x000D_ Project STEVE with proposal identification number_x000D_ 769944.This work is partly supported by the H2020 project_x000D_ UnCoVerCPS with grant number 643921, and the H2020_x000D_ Project STEVE with proposal identification number_x000D_ 769944.http://www.scopus.com/inward/record.url?scp=85056783093&partnerID=8YFLogxK