Cooperative Roundabout Control Strategy for Connected and Autonomous Vehicles

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