Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts

Pérez, Joshue; Milanés, Vicente; Pedro, Teresa de; Vlacic, Ljubo

doi:10.3182/20110828-6-it-1002.00423

Cited by 25 publications

(16 citation statements)

References 5 publications

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“…Secondly, P i 1 is forced to be at the junction point in order to make a concavity change in the Bezier generation, thus ensuring the continuation of the curvature. • Middle: When the entrance step is finished, the circle's parametric equations are used to create a circular trajectory until the exit distance is reached (close to P i 3 of the exit step), increasing the angle 0.5 • per step, as in [19]. • Exit: Once the exit distance is reached, the Bezier curves are also implemented.…”

Section: Decisionmentioning

confidence: 99%

“…Crossroads, intersections, roundabouts and risk collision situations are being considered the most interesting subject for Cybercars [18], [19]. Given all these contributions, a control architecture for CTSs, which takes into account real time trajectory generation, parametric equations for the path and other different urban scenarios is proposed in this paper.…”

Section: Review Of the Ctsmentioning

confidence: 99%

“…These are usually the biggest problems in terms of coordination, smooth path and comfortable driving. In this work, the circle's parametric curves are proposed in order to have a proper roundabout path generation [19], and Bezier curves at junctions/intersections, in order to avoid hard turns [22], [23].…”

Section: Decisionmentioning

confidence: 99%

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Control architecture for Cybernetic Transportation Systems in urban environments

González

Pérez

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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Nowadays, the insertion of Intelligent Transportation System (ITS) in the society is a fact, due to a big number of projects, demonstrations and researches that have been carried out around the world. The Cybernetic Transportation Systems (CTS) are part of the ITS, and these have especial attention thanks to its versatility, adaptability and clean energy characteristics. This paper aims to describe the evolution of the on-demand door-to-door transport systems, with Cybercars, in the framework of the IMARA team. A review of different approaches and the description of the last projects and scenarios with CTSs are considered. This work focuses in a new approach that contemplates a modular architecture, which allows parametric curve generation in real time, considering the different environment conditions-obstacle detections, shape of the road, among others. This architecture has been tested in simulations. These results promise good behavior for its future implementation in real urban scenarios, in the framework of the CityMobil2 project 1 .

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Section: Decisionmentioning

confidence: 99%

Section: Review Of the Ctsmentioning

confidence: 99%

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Control architecture for Cybernetic Transportation Systems in urban environments

González

Pérez

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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“…Two control variables that were used for the lateral control law are the lateral and angular errors, as proposed in previous works [37,38]. Both errors are calculated in the front control point (in meters) and the reference line (in degrees), respectively.…”

Section: Onboard Algorithms: Autonomous Dockingmentioning

confidence: 99%

Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

Pérez

Nashashibi

Lefaudeux

et al. 2013

Sensors

Self Cite

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Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

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“…A path planning approach at roundabouts is given in (PÉREZ et al, 2011). Straight lines and circumferences are used to represent the navigable path.…”

Section: Dynamic Pathsmentioning

confidence: 99%

Piecewise linear continuous-curvature path planning for autonomous vehicles

Silva¹

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2018Trata-se da versão corrigida da dissertação. A versão original se encontra disponível na EESC/USP que aloja o Programa de Pós-Graduação de Engenharia Elétrica. Autonomous vehicles have increasingly become an attractive field due its promising capabilities of improvements regarding safety, comfort, traffic flow etc. A required attribute for those vehicles is the ability of autonomously compute its path towards a destination point. The path must be planned considering the constructive aspects of the vehicle in order to guarantee the maneuver feasibility. This work consists on computing a feasible path for autonomous vehicles with non-holonomic constraints. Piecewise linear continuouscurvature paths constituted of clothoids, circular arcs, and straight lines are used for this purpose, providing passenger's comfort. The road network is modeled from GPS (Global Positioning System) vehicle trajectories by defining lanes, roundabouts and intersections. GPS points are used later to parameterize lanes using clothoids and to extract roundabout centers and radii. This approach provides a sparse road network model since GPS points are replaced by parameterized curves. The information about connections between roads coming from the model is used by a global path planner, which computes a minimal length route from the vehicle current position to the destination point. After that, path planners compute intersection and roundabout paths depending on the nature of connections between roads. Also, lanes changes are performed to obey traffic rules. These three path planners that connects adjacent roads use clothoids, circular arc, and straight lines as interpolating curves whose curvature is constrained to that the vehicle can perform: the intersection path planner uses only a minimal amount of steering to perform the maneuver, increasing the comfort level; the roundabout path planner takes the roundabout center and radius as well as parameters that defines the entrance and exit maneuvers to compute the path; the lane change path planner connects lanes belonging to the same road with a prescribed longitudinal traveled distance depending on whether this maneuver is required. In the end, an global continuous-curvature path is generated. As the result of this work, a real urban scenario is modeled and the proposed approaches are validated. Veículos autônomos têm cada vez mais se tornado um campo atraente de pesquisa devido às suas capacidades promissoras de melhorias em segurança, conforto, fluxo de tráfego, etc. Um atributo necessário para esses veículos é a capacidade de calcular, de forma autônoma, o seu caminho para um ponto de destino. O percurso deve ser planejado considerando os aspectos construtivos do veículo para que a viabilidade das manobras a serem executadas seja garantida. Este trabalho consiste no planejamento de trajetória para veículos autônomos com restrições não-holonômicas. Utilizam-se, para esse efeito, trajetórias cuja curvatura seja contínua e linear por partes, constituídas por clotóides, arcos de circun...

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Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts

Cited by 25 publications

References 5 publications

Control architecture for Cybernetic Transportation Systems in urban environments

Control architecture for Cybernetic Transportation Systems in urban environments

Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

Piecewise linear continuous-curvature path planning for autonomous vehicles

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