Fábián, Zsófia and Németh, Balázs and Mihály, András and Gáspár, Péter (2023) Speed control with low complexity for multiple autonomous vehicles in roundabouts. EUROPEAN TRANSPORT RESEARCH REVIEW, 15 (1). ISSN 1867-0717 10.1186/s12544-023-00615-z

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Abstract

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.

Item Type:	Article
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	08 Dec 2023 09:35
Last Modified:	08 Dec 2023 09:35
URI:	https://eprints.sztaki.hu/id/eprint/10600

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