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Controlling automated vehicles on lane-free roundabouts using nonlinear feedback control

Tsotsos Athanasios

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Summary

Road traffic congestion has emerged as a progressively severe issue, leading to extensive delays, substantial environmental pollution, and degraded traffic safety. Connected and automated vehicles (CAVs) present a potential solution to this issue, as they can utilize information from infrastructure, other vehicles, and their own sensors to make more efficient decisions.Given the significance of roundabout infrastructure in urban traffic, it is crucial to develop effective approaches for managing CAV driving on complex roundabouts. This is a challenging task because of the roundabout geometrical features and frequent conflicts among entering, rotating, and exiting vehicles. The main control goals include avoiding collisions and violation of the roundabout boundaries, smooth and reasonable vehicle movements, and good exploitation of infrastructure. In particular, large roundabouts operate with no lanes; hence, they can be considered as lane-free elements. In this diploma thesis, we aim to employ a decentralized nonlinear feedback controller to navigate CAVs towards their respective destinations while reaching the abovementioned goals. To this end, we will modify a nonlinear controller which was previously designed for lane-free highways with varying lateral boundaries to be used for controlling vehicles on the roundabout. Place Charles de Gaulle, a famous roundabout in Paris, is considered as an overly complex case study featuring an inner (outer) radius of 46 m (84 m) and comprising a dozen radial two-way streets.

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