Parametric-based path generation for automated vehicles at roundabouts

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• 作者：David Gonzá ; lez ; ^a ; ^{david.gonzalez-bautista@inria.fr} ; Joshué ; Pé ; rez^b ; ^{joshue.perez@tecnalia.com} ; Vicente Milané ; s^c ; ^{vicente.milanes@renault.com}
• 关键词：Roundabouts ; Automated vehicles ; Path planning ; Intelligent transportation systems
• 刊名：Expert Systems with Applications
• 出版年：2017
• 出版时间：1 April 2017
• 年：2017
• 卷：71
• 期：Complete
• 页码：332-341
• 全文大小：4396 K
• 卷排序：71

文摘

This paper shows simulated/real experiments with automated vehicles in roundabouts. Real-time planning considering two-lane roundabout, taking different exits. G1 path continuity, highly reduced curvature steps and comfort considerations.