This article presents a distributed reactive-predictive scheme to coordinate autonomous vehicles at single lane roundabouts relying on shared information. Combining predictive and reactive control schemes allows dealing with potentially inconsistent priorities and behavioral uncertainties. A novel priority framework is addressed to allow vehicles to calculate relative priorities in a distributed way. The strategy is tested on simulation considering the coexistence of heterogeneous vehicles and observing the influence of traffic density on coordination performance.


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    Title :

    Autonomous coordination of heterogeneous vehicles at roundabouts


    Contributors:


    Publication date :

    2016-11-01


    Size :

    644726 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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