Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts
| File | Size | Format | |
|---|---|---|---|
| 79061_1.pdf | 614Kb | Adobe PDF | View |
| 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 |
| Research Centre | Institute for Integrated and Intelligent Systems |
| 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 |
Please use this identifier to cite this record: http://hdl.handle.net/10072/46633
Griffith University copyright notice
Copyright in individual works within the repository belongs to their authors or publishers. You may make a print or digital copy of a work for your personal non-commercial use. All other rights are reserved, except for fair dealings or other user rights granted by the copyright laws of your country.
Footer information
Back to top