Autonomous coordination of heterogeneous vehicles at roundabouts

This article presents a distributed reactive-predictive scheme to coordinate autonomous vehicles at single lane roundabouts relying on shared information. Combining predictive and reactive control schemes allows dealing with potentially inconsistent priorities and behavioral uncertainties. A novel priority framework is addressed to allow vehicles to calculate relative priorities in a distributed way. The strategy is tested on simulation considering the coexistence of heterogeneous vehicles and observing the influence of traffic density on coordination performance.