Abstract
Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Arndt, O., Troutbeck, R.J.: Relationship between roundabout geometry and accident rates. Transp. Res. Circ, (E-C003), 28–1 (1998)
Azimi, R., Bhatia, G., Rajkumar, R., Mudalige, P.: V2v-intersection management at roundabouts. SAE Int. J. Passeng. Cars-Mech. Syst. 6(2013–01–0722), 681–690 (2013)
Badgley, J., Condon, J., Rainville, L., Li, D., et al.: FHWA research and technology evaluation: roundabout research final report. Tech. rep., United States. Federal Highway Administration. Office of Corporate Research (2018)
Bosankić, I., Mehmedović, L.B.: Cooperative intelligence in roundabout intersections using hierarchical fuzzy behavior calculation of vehicle speed profile. In: MATEC Web of Conferences, vol. 81, p. 01008. EDP Sciences (2016)
Cuadrado, J., Vilela, D., Iglesias, I., Martín, A., Peña, A.: A multibody model to assess the effect of automotive motor in-wheel configuration on vehicle stability and comfort. ECCOMAS Multibody Dynamics (2013)
Debada, E.G., Gillet, D.: Virtual vehicle-based cooperative maneuver planning for connected automated vehicles at single-lane roundabouts. IEEE Intell. Transp. Syst. Mag. 104, 35–46 (2018)
Distefano, N., Leonardi, S., Pulvirenti, G.: Factors with the greatest influence on drivers’ judgment of roundabouts safety. An analysis based on web survey in Italy. IATSS Res. 42(4), 265–273 (2018)
González, D., Pérez, J., Lattarulo, R., Milanés, V., Nashashibi, F.: Continuous curvature planning with obstacle avoidance capabilities in urban scenarios. In: 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp. 1430–1435. IEEE (2014)
Gonzalez, D., Pérez, J., Milanés, V.: Parametric-based path generation for automated vehicles at roundabouts. Expert Syst. Appl. 71, 332–341 (2017)
González, D., Pérez, J., Milanés, V., Nashashibi, F.: A review of motion planning techniques for automated vehicles. IEEE Trans. Intell. Transp. Syst. 17(4), 1135–1145 (2016)
Hatami, H., Aghayan, I.: Traffic efficiency evaluation of elliptical roundabout compared with modern and turbo roundabouts considering traffic signal control. Promet-Traffic Transp. 29(1), 1–11 (2017)
Heß, D., Lattarulo, R., Pérez, J., Schindler, J., Hesse, T., Köster, F.: Fast maneuver planning for cooperative automated vehicles. In: 2018 21st International Conference on Intelligent Transportation Systems (ITSC), pp. 1625–1632. IEEE (2018)
Houska, B., Ferreau, H.J., Diehl, M.: Acado toolkit-an open-source framework for automatic control and dynamic optimization. Optim. Control Appl. Methods 32(3), 298–312 (2011)
Lattarulo, R., González, L., Martí, E., Matute, J., Marcano, M., Pérez, J.: Urban motion planning framework based on N-Bézier curves considering comfort and safety. J. Adv. Transp. 2018 (2018)
Lattarulo, R., Marcano, M., Pérez, J.: Overtaking maneuver for automated driving using virtual environments. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds.) EUROCAST 2017. LNCS, vol. 10672, pp. 446–453. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-74727-9_54
Lattarulo, R., Pérez, J., Dendaluce, M.: A complete framework for developing and testing automated driving controllers. IFAC-PapersOnLine 50(1), 258–263 (2017)
Montella, A.: Identifying crash contributory factors at urban roundabouts and using association rules to explore their relationships to different crash types. Accid. Anal. Prev. 43(4), 1451–1463 (2011)
Rastelli, J.P., Peñas, M.S.: Fuzzy logic steering control of autonomous vehicles inside roundabouts. Appl. Soft Comput. 35, 662–669 (2015)
Villagra, J., Milanés, V., Pérez, J., Godoy, J.: Smooth path and speed planning for an automated public transport vehicle. Robot. Auton. Syst. 60(2), 252–265 (2012)
Acknowledgment
This work was supported in part by the ECSEL Project ENABLE-S3 with grant agreement number 692455-2 and the Spanish Ministry of Economy, Industry and Competitiveness TEC2016-77618-R (AEI/FEDER, UE).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Hidalgo, C., Lattarulo, R., Pérez, J., Asua, E. (2020). Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2019. EUROCAST 2019. Lecture Notes in Computer Science(), vol 12014. Springer, Cham. https://doi.org/10.1007/978-3-030-45096-0_16
Download citation
DOI: https://doi.org/10.1007/978-3-030-45096-0_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-45095-3
Online ISBN: 978-3-030-45096-0
eBook Packages: Computer ScienceComputer Science (R0)