Parametric-based path generation for automated vehicles at roundabouts

作者：

Highlights：

• 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.

摘要

•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.

论文关键词：Roundabouts,Automated vehicles,Path planning,Intelligent transportation systems

论文评审过程：Received 15 July 2016, Revised 18 November 2016, Accepted 19 November 2016, Available online 1 December 2016, Version of Record 9 December 2016.

论文官网地址：https://doi.org/10.1016/j.eswa.2016.11.023