Speed control with low complexity for multiple autonomous vehicles in roundabouts
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 |
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| 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: | 12 Jun 2025 07:01 |
| URI: | https://eprints.sztaki.hu/id/eprint/10600 |
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