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Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety
Joint Authors
Pérez, Joshué
Marcano, Mauricio
Matute, José A.
Lattarulo, Ray
Martí, Enrique
González, Leonardo
Source
Journal of Advanced Transportation
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-15
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Lattarulo, Ray& González, Leonardo& Martí, Enrique& Matute, José A.& Marcano, Mauricio& Pérez, Joshué. 2018. Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety. Journal of Advanced Transportation،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1181487
Modern Language Association (MLA)
Lattarulo, Ray…[et al.]. Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety. Journal of Advanced Transportation No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1181487
American Medical Association (AMA)
Lattarulo, Ray& González, Leonardo& Martí, Enrique& Matute, José A.& Marcano, Mauricio& Pérez, Joshué. Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety. Journal of Advanced Transportation. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1181487
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1181487