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

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.