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Sensors 2017, 17(6), 1383; doi:10.3390/s17061383

Dynamic Speed Adaptation for Path Tracking Based on Curvature Information and Speed Limits

Le2i FRE2005, CNRS, Arts et Métiers, University Bourgogne Franche-Comté, UTBM, F-90010 Belfort, France
This paper is an expanded version of our paper published in Gámez Serna, C.; Lombard, A.; Ruichek, Y.; Abbas-Turki, A. Gps-based curve estimation for an adaptive pure pursuit algorithm. In Proceedings of the 15th Mexican International Conference on Artificial Intelligence, Cancún, Mexico, 23–29 October 2016.
These authors contributed equally to this work.
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Received: 30 May 2017 / Revised: 8 June 2017 / Accepted: 8 June 2017 / Published: 14 June 2017
(This article belongs to the Special Issue Sensors for Transportation)
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Abstract

A critical concern of autonomous vehicles is safety. Different approaches have tried to enhance driving safety to reduce the number of fatal crashes and severe injuries. As an example, Intelligent Speed Adaptation (ISA) systems warn the driver when the vehicle exceeds the recommended speed limit. However, these systems only take into account fixed speed limits without considering factors like road geometry. In this paper, we consider road curvature with speed limits to automatically adjust vehicle’s speed with the ideal one through our proposed Dynamic Speed Adaptation (DSA) method. Furthermore, ‘curve analysis extraction’ and ‘speed limits database creation’ are also part of our contribution. An algorithm that analyzes GPS information off-line identifies high curvature segments and estimates the speed for each curve. The speed limit database contains information about the different speed limit zones for each traveled path. Our DSA senses speed limits and curves of the road using GPS information and ensures smooth speed transitions between current and ideal speeds. Through experimental simulations with different control algorithms on real and simulated datasets, we prove that our method is able to significantly reduce lateral errors on sharp curves, to respect speed limits and consequently increase safety and comfort for the passenger. View Full-Text
Keywords: speed adaptation; speed limits; curve speed; path tracking; lateral error; road safety; autonomous vehicle speed adaptation; speed limits; curve speed; path tracking; lateral error; road safety; autonomous vehicle
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Gámez Serna, C.; Ruichek, Y. Dynamic Speed Adaptation for Path Tracking Based on Curvature Information and Speed Limits. Sensors 2017, 17, 1383.

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