Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts

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Title Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts
Author Joshué, Pérez; Vicente, Milanés; Teresa, de Pedro; Vlacic, Ljubo (Ljubisa)
Publication Title 18th World Congress of the International Federation of Automatic Control (IFAC)
Editor Bittanti, Sergio, Cenedese, Angelo, Zampieri, Sandro
Year Published 2011
Place of publication United States
Publisher International Federation of Automatic Control
Abstract The highway and urban traffic safety has significantly been improved thanks to advanced development of Intelligent Transportation Systems technologies. However, some driving aspects have remained outside of this evolution or they are still in the development stage. Autonomous vehicle performance on roundabouts is one of these. In this paper, a simple and practical approach for the driverless control on roundabouts is described. Firstly, a description of a path planning is explained. Finally, a new concept for lateral control on roundabouts is introduced, taking into account entrances, exits and lane changes inside the roundabouts. The experiments have been tested in a 3D simulator that emulates the behaviour of driverless vehicle from the real world, - Cybercars. The results are promising, and leave the door open for future implementation in real vehicles.
Peer Reviewed Yes
Published Yes
Publisher URI http://www.ifac2011.org/
Alternative URI http://dx.doi.org/10.3182/20110828-6-IT-1002.00423
Copyright Statement Copyright 2011 IFAC-PapersOnLine. The attached file is reproduced here in accordance with the copyright policy of the publisher. Please refer to the conference's website for access to the definitive, published version.
ISBN 978-3-902661-93-7
Conference name IFAC 2011
Location Milano, Italy
Date From 2011-08-28
Date To 2011-09-02
URI http://hdl.handle.net/10072/46633
Date Accessioned 2012-06-21
Date Available 2012-08-30T22:50:33Z
Language en_US
Faculty Faculty of Science, Environment, Engineering and Technology
Subject Control Systems, Robotics and Automation
Publication Type Conference Publications (Full Written Paper - Refereed)
Publication Type Code e1

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