Hierarchical control design of automated vehicles for multi-vehicle scenarios in roundabouts

Németh, Balázs; Farkas, Zsófia; Antal, Zoltán; Gáspár, Péter

doi:10.23919/ecc55457.2022.9838101

Cited by 3 publications

(1 citation statement)

References 19 publications

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“…of Mathematics, National Technical University of Athens, Athens, Greece. (e-mail: iasonkar@central.ntua.gr) T focus on AV driving on roundabouts [18]- [33]. A classification of the existing methods, based on some important features, is given in Table I.…”

Section: Introductionmentioning

confidence: 99%

Automated vehicle driving on large lane-free roundabouts

Naderi

Papageorgiou

Karafyllis

et al. 2022

2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)

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Controlling automated vehicles on large lane-free roundabouts is challenging because of the geometrical complexity and frequent conflicts among entering, rotating, and exiting vehicles. This paper proposes a comprehensive methodology to control the vehicles within the roundabout and the connected road branches. The developed real-time vehicle movement strategy relies on offline-computed wide overlapping movement corridors, one for each Origin-Destination (OD) movement, which delineate the admissible movement zones of corresponding OD vehicles. Also, space-dependent desired orientations are determined by destination, so as to mitigate potential vehicle conflicts and reduce trip distance. A distributed (per vehicle) movement control strategy, using two nonlinear feedback controllers (NLFC), for circular and straight movements, respectively, is employed to navigate each vehicle within the respective OD corridor toward its destination, accounting for the desired orientation and avoiding collisions with other vehicles; while boundary controllers guarantee that the corridor boundaries will not be violated, and the exit will not be missed. As an overly complicated case study, we consider the famous roundabout of Place Charles de Gaulle in Paris, featuring a width of 38 m and comprising a dozen of bidirectional radial streets, hence a total of 144 ODs. The pertinence and effectiveness of the presented method is verified via microscopic simulation and evaluation of macroscopic data.

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Section: Introductionmentioning

confidence: 99%

Automated vehicle driving on large lane-free roundabouts

Naderi

Papageorgiou

Karafyllis

et al. 2022

2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)

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Controlling Automated Vehicles on Large Lane-Free Roundabouts

Naderi,

Papageorgiou,

Troullinos

et al. 2024

IEEE Trans. Intell. Veh.

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Speed control with low complexity for multiple autonomous vehicles in roundabouts

Farkas,

Németh,

Mihály

et al. 2023

Eur. Transp. Res. Rev.

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The paper introduces a high level speed control method for the coordination of multiple autonomous vehicles (AVs) in roundabout scenarios. The aim of the control method is to guarantee collision-free motion of the AVs, and similarly, to minimize their traveling time. In the method a priority-based ordering process of the AVs is used, which enforces the time-efficient motion of the AVs. The collision-free motion is guaranteed through an optimization-based method including control input constraints. The ordering process and the optimization form a low complexity solution, which requires low computation effort. The proposed control strategy is involved in the high level of a hierarchical control structure. The effectiveness of the proposed control strategy is illustrated by simulation examples and Hardware-in-the-Loop demonstration.

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Hierarchical control design of automated vehicles for multi-vehicle scenarios in roundabouts

Cited by 3 publications

References 19 publications

Automated vehicle driving on large lane-free roundabouts

Automated vehicle driving on large lane-free roundabouts

Controlling Automated Vehicles on Large Lane-Free Roundabouts

Speed control with low complexity for multiple autonomous vehicles in roundabouts

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