Model Predictive Control Method for Autonomous Vehicles in Roundabouts

This paper introduces a procedure for controlling autonomous vehicles entering roundabouts. The aim of the centralized controller is to define velocity profile each vehicle by which collisions can be avoided and traveling times minimized. To achieve these performances, model predictive control introduced based on solution an analytical calculation spent in roundabout designing vehicles’ profiles order avoid conflict situations while ensuring time-optimal solution. By application proposed procedure, safety enhanced possibility forming congestion operation method demonstrated few simulation examples CarSim environment.