Browsing by Keyword "Roundabouts"
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Item Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios(Springer Science and Business Media Deutschland GmbH, 2024) Arizala, Asier; Alonso, Gorka; Pérez, Joshué; Zubizarreta, Asier; Marques, Lino; Santos, Cristina; Lima, José Luís; Tardioli, Danilo; Ferre, Manuel; CCAMThis paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.Item Parametric-based path generation for automated vehicles at roundabouts(2017-04-01) González, David; Perez, Joshue; Milanés, Vicente; CCAMUrban environments are becoming more and more complex because several factors as consecutive cross- roads or lanes changes. These scenarios demand specific infrastructures—i.e. roundabouts, for improving traffic flow compared with traditional intersections. A roundabout removes timeouts associated with traf- fic lights at crossroads and trajectory conflicts among drivers. However, it is a challenging scenario for both humans and automated vehicles. This work presents a path planning method for automated vehi- cle driving at roundabouts. The proposed system achieves a G 1 continuous path, minimizing curvature steps to increase smoothness, dividing the driving process in three stages: entrance maneuver, driving within the roundabout and exit maneuver. Parametric equations are generated to deal with automated roundabout driving. This approach allows a real time planning considering two-lane roundabouts, taking different exits. Tests in simulated environments and on our prototype platform—Cybercar—validate the system on real urban environments, showing the proper behavior of the system.