Trabajo presentado en el 18th World CongressThe International Federation of Automatic Control, celebrado en Milán (Italia), del 28 de agosto al 2 de septiembre de 2011 ; The highway and urban traffic safety has significantly been improved thanks to advanced development of Intelligent Transportation Systems technologies. However, some driving aspects have remained outside of this evolution or they are still in the development stage. Autonomous vehicle performance on roundabouts is one of these. In this paper, a simple and practical approach for the driverless control on roundabouts is described. Firstly, a description of a path planning is explained. Finally, a new concept for lateral control on roundabouts is introduced, taking into account entrances, exits and lane changes inside the roundabouts. The experiments have been tested in a 3D simulator that emulates the behaviour of driverless vehicle from the real world, – Cybercars. The results are promising, and leave the door open for future implementation in real vehicles. ; This work was carried out with the support of the Intelligent Control Systems Laboratory (ICSL), Griffith University and the Spanish projects TRÁNSITO TRA2008-06602-C03-01 Coordinación local entre vehículos e infraestructuras y GUIADE P9/08, Guiado Automático de Vehículos de Transporte Público mediante Percepción Multimodal.


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    Title :

    Autonomous driving manoeuvres in urban road traffic environment: Control study on roundabouts



    Publication date :

    2011-08-28



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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