Safe and Adaptive Roundabout Insertion for Autonomous Vehicle based Limit-cycle and Predicted Inter-Distance Profiles

Roundabouts are a prevalent form of road infrastructure that effectively control traffic flow and significantly decrease the occurrence of accidents in contrast to traditional intersections. This paper, based on the Multi-Risk Assessment and Management Control Strategy (MRAM-CS) [1] aims to enhance this architecture by considering the obstacle behavior. The MRAM-CS allows autonomous vehicles (called Ego-Vehicles (EVs) in what follows) to determine whether to accelerate or decelerate at the arrival of the roundabout and to enter by applying an appropriate speed profile, determined online, which allows to respect appropriate distances with the vehicles circulating in the roundabout. This is done by using the Predictive Inter-Distance Profile metric (PIDP) and the dynamic progress of the minimum value of PIDP (mPIDP). The proposed control is based on Fuzzy-PID controller, allowing to update the PID gains according to Fuzzy Inference System (FIS) and the behavior feature (calm, aggressive or dangerous) of the other vehicles. Several simulations are performed to demonstrate the reliability and the safety of the proposed approach.