Optimization based trajectory planner for multilane roundabouts with connected automation

Abstract

This paper proposes a trajectory planner for multilane roundabouts. The goal is to enhance the existing roundabout in terms of capacity with the help of connected automation. The trajectory planner is formulated as a bi-level optimization. The upper level is a passing sequence optimization, which determines the passing sequence of the approaching vehicles to achieve delay minimization. The lower level is a speed optimal control aiming at minimizing fuel consumption while honoring the pass sequences generated from the upper level optimization. The proposed planner is evaluated in simulation on a typical four-arm roundabout with two entrance lanes in each arm. Compared with the traditional yield-regulated control, the proposed approach can reduce the delay by 69.6% to 87.8% and fuel consumption by 24.7% to 28.6%. Compared with the first-come-first-service (FCFS) control, the proposed approach can reduce the delay by 33.5% to 81.9% and fuel consumption by 7.5% to 18.8%. The change in benefit is due to the variation of demand.

Keywords:

• Connected and automated vehicles
• fuel consumption
• roundabout
• speed optimization
• trajectory optimization

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This paper is partially supported by Shanghai Municipal Science and Technology Major Project 2021SHZDZX0100, National Natural Science Foundation of China (Grant No. 61803284), Shanghai Oriental Scholar (2018), Tongji Zhongte Chair Professor Foundation (No. 000000375-2018082), National Key R&D Program of China (No. 2018YFB1600600), and the Fundamental Research Funds for the Central Universities.