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Automated vehicle driving on large lane-free roundabouts

Naderi Mahdi, Papageorgiou Markos, Karafyllis Iason, Papamichail Ioannis

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URIhttp://purl.tuc.gr/dl/dias/E06403B3-43BD-4DA7-9F8A-963E43944FD7-
Identifierhttps://doi.org/10.1109/ITSC55140.2022.9922249-
Identifierhttps://ieeexplore.ieee.org/document/9922249-
Languageen-
Extent8 pagesen
TitleAutomated vehicle driving on large lane-free roundaboutsen
CreatorNaderi Mahdien
CreatorNaderi Mahdiel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
CreatorKarafyllis Iasonen
CreatorΚαραφυλλης Ιασωνel
CreatorPapamichail Ioannisen
CreatorΠαπαμιχαηλ Ιωαννηςel
PublisherInstitute of Electrical and Electronics Engineersen
Content SummaryAutomated vehicle driving on large, complex, lane-free roundabouts is a major challenge. As a striking example for this challenge, we consider the famous roundabout of Place Charles de Gaulle in Paris, featuring a width of 38 m and comprising a dozen of entering/exiting radial streets. The paper proposes a complete generic methodology to control the lane-free paths of automated vehicles. The developed real-time vehicle movement control strategy relies on appropriate automated offline computation of: (a) wide overlapping movement corridors, one for each Origin-Destination (OD) movement, which delineate the admissible movement zones of corresponding OD vehicles; (b) desired vehicle orientation at each location within each OD corridor. Real-time vehicle movement within the respective corridor is effectuated by a distributed (per vehicle) nonlinear feedback control strategy, such that vehicles can move forward efficiently, accounting, when possible, for the pre-specified desired orientation, while avoiding collisions with other vehicles. Boundary controllers, developed based on linear state-feedback approaches, are used as safety filters defining upper and lower bounds for the vehicle steering angle, such that it is guaranteed that: a vehicle never violates its admissible corridor and roundabout boundaries; and never misses its exit. Microscopic simulation testing results demonstrate the pertinence and effectiveness of the suggested approach.en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2023-01-04-
Date of Publication2022-
SubjectLane-free trafficen
SubjectAutomated vehiclesen
SubjectRoundaboutsen
Bibliographic CitationM. Naderi, M. Papageorgiou, I. Karafyllis and I. Papamichail, "Automated vehicle driving on large lane-free roundabouts," in 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022, pp. 1528-1535, doi: 10.1109/ITSC55140.2022.9922249.en

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