Cooperative Roundabout Control Strategy for Connected and Autonomous Vehicles

Abstract

Intersections in the urban network are potential sources of traffic flow inefficiency. Existing intersection control mostly adopts the “cross” flow pattern model, while the use of the roundabout circular flow pattern is rather sparse. Connected and autonomous vehicle (CAV) technologies can enable roundabouts to better compete with traditional intersection designs in terms of performance. This study proposes a roundabout control strategy for CAVs to enhance intersection performance while ensuring vehicle safety. A hierarchical framework is developed to decouple the flow-level performance objective and vehicle-level safety constraints to achieve computational tractability for real-time applications. It entails developing a roundabout flow control model to optimize merge-in flows, a merge-in decision model to generate vehicle passing sequence from the optimal flows, and a virtual platoon control model to achieve safe and stable vehicle operations in a circular roundabout platoon. The performance of the proposed roundabout control strategy is illustrated through numerical studies and compared to existing intersection control methods. Its stability and safety characteristics are also demonstrated.

Keywords

• roundabout
• optimal control
• connected and autonomous vehicle