Experimental Validation of a Real-Time Optimal Controller for Coordination of CAVs in a Multi-Lane Roundabout

Abstract

Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have shown that smoothing traffic flow and eliminating stop-and-go driving can both improve fuel efficiency of the vehicles and the throughput of a roundabout. In this paper, we validate an optimal control framework developed earlier in a multi-lane roundabout scenario using the University of Delaware's scaled smart city (UDSSC). We first provide conditions where the solution is optimal. Then, we demonstrate the feasibility of the solution using experiments at UDSSC, and show that the optimal solution completely eliminates stop-and-go driving while preserving safety.

6 Pages, 4 Figures, 1 table

Cited by in corpus (11)

• Optimal Time Trajectory and Coordination for Connected and Automated Vehicles
• Optimal Control of Connected and Automated Vehicles at Multiple Adjacent Intersections
• A Research and Educational Robotic Testbed for Real-time Control of Emerging Mobility Systems: From Theory to Scaled Experiments
• A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles
• Combined Optimal Routing and Coordination of Connected and Automated Vehicles
• Stochastic Time-Optimal Trajectory Planning for Connected and Automated Vehicles in Mixed-Traffic Merging Scenarios
• Autonomous Driving Small-Scale Cars: A Survey of Recent Development
• A Digital Smart City for Emerging Mobility Systems
• On Mobility Equity and the Promise of Emerging Transportation Systems
• Decentralized Time and Energy-Optimal Control of Connected and Automated Vehicles in a Roundabout
• Energy-Optimal Goal Assignment of Multi-Agent System with Goal Trajectories in Polynomials