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

Abstract

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. This work is partly supported by the H2020 project UnCoVerCPS with grant number 643921, and the H2020 Project STEVE with proposal identification number 769944.