Zsófia Farkas, Balázs Németh, András Mihály, Péter Gáspár
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Speed control with low complexity for multiple autonomous vehicles in roundabouts
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.
期刊介绍:
European Transport Research Review (ETRR) is a peer-reviewed open access journal publishing original high-quality scholarly research and developments in areas related to transportation science, technologies, policy and practice. Established in 2008 by the European Conference of Transport Research Institutes (ECTRI), the Journal provides researchers and practitioners around the world with an authoritative forum for the dissemination and critical discussion of new ideas and methodologies that originate in, or are of special interest to, the European transport research community. The journal is unique in its field, as it covers all modes of transport and addresses both the engineering and the social science perspective, offering a truly multidisciplinary platform for researchers, practitioners, engineers and policymakers. ETRR is aimed at a readership including researchers, practitioners in the design and operation of transportation systems, and policymakers at the international, national, regional and local levels.