An Optimal Management Scheme for Connected Vehicles Merging at a Roundabout

Roundabouts have an important impact on vehicle safety, traffic efficiency and fuel economy. In order to improve the traffic efficiency of roundabouts without signal lights, this paper proposes a hierarchical control scheme based on the intelligent network environment. The high-level strategy generates the control horizon that guarantees fast merging for the vehicles outside the roundabouts. Then, an optimal control problem formulation is proposed to realize safety and economy operation for the vehicles at the roundabout. Finally, the effectiveness of the roundabout control system is verified by numerical simulations.