Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach

Abstract

Publisher Copyright: © 2020, Springer Nature Switzerland AG.Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.Acknowledgment. This work was supported in part by the ECSEL Project ENABLE-S3 with grant agreement number 692455-2 and the Spanish Ministry of Economy, Industry and Competitiveness TEC2016-77618-R (AEI/FEDER, UE).Peer reviewe