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Title	Experimental Validation Of A Real-Time Optimal Controller For Coordination Of Cavs In A Multi-Lane Roundabout
ID_Doc	25323
Authors	Chalaki B.; Beaver L.E.; Malikopoulos A.A.
Year	2020
Published	IEEE Intelligent Vehicles Symposium, Proceedings
DOI	http://dx.doi.org/10.1109/IV47402.2020.9304531
Abstract	Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have shown that smoothing traffic flow and eliminating stop-and-go driving can both improve fuel efficiency of the vehicles and the throughput of a roundabout. In this paper, we validate an optimal control framework developed earlier in a multilane roundabout scenario using the University of Delaware's scaled smart city (UDSSC). We first provide conditions where the solution is optimal. Then, we demonstrate the feasibility of the solution using experiments at UDSSC, and show that the optimal solution completely eliminates stop-and-go driving while preserving safety. © 2020 IEEE.
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