This article presents a distributed reactive-predictive scheme to coordinate autonomous vehicles at single lane roundabouts relying on shared information. Combining predictive and reactive control schemes allows dealing with potentially inconsistent priorities and behavioral uncertainties. A novel priority framework is addressed to allow vehicles to calculate relative priorities in a distributed way. The strategy is tested on simulation considering the coexistence of heterogeneous vehicles and observing the influence of traffic density on coordination performance.
Autonomous coordination of heterogeneous vehicles at roundabouts
2016-11-01
644726 byte
Conference paper
Electronic Resource
English