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== 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.
== Original document ==
The different versions of the original document can be found in:
* [http://dsp.tecnalia.com/bitstream/11556/573/1/PID5225957.pdf http://dsp.tecnalia.com/bitstream/11556/573/1/PID5225957.pdf]
* [http://hdl.handle.net/11556/573 http://hdl.handle.net/11556/573]
* [http://xplorestaging.ieee.org/ielx7/8334884/8350884/08351307.pdf?arnumber=8351307 http://xplorestaging.ieee.org/ielx7/8334884/8350884/08351307.pdf?arnumber=8351307],
: [http://dx.doi.org/10.1109/iscas.2018.8351307 http://dx.doi.org/10.1109/iscas.2018.8351307]
* [https://dblp.uni-trier.de/db/conf/iscas/iscas2018.html#LattaruloMMMP18 https://dblp.uni-trier.de/db/conf/iscas/iscas2018.html#LattaruloMMMP18],
: [https://ieeexplore.ieee.org/document/8351307 https://ieeexplore.ieee.org/document/8351307],
: [https://core.ac.uk/display/159392548 https://core.ac.uk/display/159392548],
: [http://dsp.tecnalia.com/handle/11556/573 http://dsp.tecnalia.com/handle/11556/573],
: [https://academic.microsoft.com/#/detail/2801053182 https://academic.microsoft.com/#/detail/2801053182]
Return to Lattarulo et al 2018a.
Published on 01/01/2018
Volume 2018, 2018
DOI: 10.1109/iscas.2018.8351307
Licence: CC BY-NC-SA license
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