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Specifying desired orientations for automated vehicles on complex lane-free roundabouts via Dynamic Programming

Mavroeidi Maria-Konstantina

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Summary

Road traffic congestion is an increasingly grave social problem that contributes to excessive delays, substantial environmental pollution, and decreased traffic safety. The introduction of automated and connected vehicles could be an effective solution to tackle this problem since they can be promoted to make more appropriate decisions based on information received from the infrastructure, other vehicles, and their sensors.Path planning for vehicles on large, complex, lane-free roundabouts is challenging due to the geometrical features and frequent conflicts among entering, navigating, and exiting vehicles. A fundamental difficulty is to properly determine the desired vehicle orientations on the roundabout so that vehicles enter the roundabout and move towards their corresponding exits smoothly and safely. The specification of vehicle orientations should consider the resulting trip distance, the angle difference from other vehicles, and the exploitation of the available roundabout surface for efficient traffic flow.This diploma thesis proposes an optimal control approach to determine optimal vehicle orientations at each point on the roundabout, in dependence on the exit branch, to minimize a weighted summation of the trip distance and the deviation from the circular motion. Analytical solutions for two extreme cases, addressing only the shortest path or the minimum deviation from the circular angle, respectively, are derived. A Dynamic Programming-based (backward Dijkstra) algorithm is employed for the general weighted problem solution to deliver the optimal orientations in a 2-D space-discretized grid of the roundabout surface. In light of the optimal solution, a computationally light near-optimal approach is also proposed. As a challenging case study, the methods are applied to the famous roundabout of Place Charles de Gaulle in Paris, which features a road width of 38 m and comprises 12 bidirectional radial streets, hence a total of 144 origin-destination movements for the vehicles.

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