Despite the progress made in the Intelligent Transportation Systems (ITS) field, there is still a large amount of scenarios to be solved, such as urban roundabouts. In particular, the entrance must be emphasized due to most of accidents take place in this part. In such way, the article presents a method to solve the roundabout merging considering a nominal trajectory generated through Bézier curves combining with a Model Predictive Control (MPC) to assure safe future states. Tests are made using a real platform to execute the maneuver and a virtual platform to represent the other participant on the scenario. Experimental results demonstrate the good performance of the approach under merging scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Hybrid trajectory planning approach for roundabout merging scenarios


    Contributors:


    Publication date :

    2019-11-01


    Size :

    7855156 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    A Roundabout Video Dataset for Vehicle Trajectory Prediction

    Han, Yi / Zhou, Ruichun / Zhou, Xiaotong et al. | IEEE | 2025


    Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging Scenarios

    Mozaffari, Sajjad / Sormoli, MReza Alipour / Koufos, Konstantinos et al. | IEEE | 2023


    An Optimal Management Scheme for Connected Vehicles Merging at a Roundabout

    Zhang, Yao / Zhang, Jiangyan / Dong, Bin | IEEE | 2022


    Construction of test scenarios for automated vehicles under roundabout

    Zhang, Guangchen / Yuan, Chang / Shu, Hong | IEEE | 2022


    Bracknell roundabout -- Construction of roundabout under railway

    Kendal, J.T. / Palmer, R.W. | Engineering Index Backfile | 1956