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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Controlling Automated Vehicles on Large Lane-Free Roundabouts



    Published in:

    Publication date :

    2024-01-01


    Size :

    2628134 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Automated vehicle driving on large lane-free roundabouts*

    Naderi, Mehdi / Papageorgiou, Markos / Karafyllis, Iasson et al. | IEEE | 2022


    Including Exiting Vehicles in Capacity Estimation at Single-Lane U.S. Roundabouts

    Mereszczak, Y. / Dixon, M. / Kyte, M. et al. | British Library Conference Proceedings | 2006


    Method of guiding and controlling vehicles into roundabouts

    LIM BYUNG SUP | European Patent Office | 2024

    Free access

    Including Exiting Vehicles in Capacity Estimation at Single-Lane U.S. Roundabouts

    Mereszczak, Yuri / Dixon, Michael / Kyte, Michael et al. | Transportation Research Record | 2006