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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    Title :

    Speed control with low complexity for multiple autonomous vehicles in roundabouts


    Additional title:

    Eur. Transp. Res. Rev.


    Contributors:


    Publication date :

    2023-11-22




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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