This paper proposes a trajectory planner for multilane roundabouts. The goal is to enhance the existing roundabout in terms of capacity with the help of connected automation. The trajectory planner is formulated as a bi-level optimization. The upper level is a passing sequence optimization, which determines the passing sequence of the approaching vehicles to achieve delay minimization. The lower level is a speed optimal control aiming at minimizing fuel consumption while honoring the pass sequences generated from the upper level optimization. The proposed planner is evaluated in simulation on a typical four-arm roundabout with two entrance lanes in each arm. Compared with the traditional yield-regulated control, the proposed approach can reduce the delay by 69.6% to 87.8% and fuel consumption by 24.7% to 28.6%. Compared with the first-come-first-service (FCFS) control, the proposed approach can reduce the delay by 33.5% to 81.9% and fuel consumption by 7.5% to 18.8%. The change in benefit is due to the variation of demand.


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    Title :

    Optimization based trajectory planner for multilane roundabouts with connected automation


    Contributors:
    Long, Keke (author) / Gao, Zhibo (author) / Jiang, Zehao (author) / Ma, Chengyuan (author) / Hu, Jia (author) / Yang, Xiaoguang (author)

    Published in:

    Publication date :

    2023-05-04


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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