The revolution of roundabouts in the autonomous driving era: A lane-free self-organized motion planning framework
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影响因子：9.9
DOI码：10.1016/j.aei.2025.104037
发表刊物：Advanced Engineering Informatics
关键字：Lane-free roundaboutAutonomous vehiclesSelf-organizingMotion planningIntelligent agent model
摘要：As autonomous driving advances, Lane-Free Roundabouts (LFRs) offer a promising alternative to traditional lane-based roundabout designs, presenting the potential to significantly improve traffic efficiency. However, enabling non-connected Autonomous Vehicles (AVs), which rely solely on onboard sensors, to independently execute key maneuvers (entry, circulation, and exit) while maintaining smooth traffic flow in LFRs remains a critical challenge. To address this gap, this study proposes a self-organizing motion planning framework (LFR-MPF) for non-connected AVs in LFRs. The framework integrates an enhanced Intelligent Agent Model (IAM) to simulate microscopic vehicle interactions, a Target Guidance Model for flexible path adjustment, and a self-organizing yielding strategy based on local sensing. Through these components, LFR-MPF enables AVs to safely navigate lane-free environments while maximizing road space utilization. The LFR-MPF model demonstrated both human-like behavioral realism and superior traffic efficiency. Calibration and initial validation on the real-world RounD dataset confirmed its human-like driving patterns. Subsequent high-density simulations showed LFR-MPF boosted capacity at the Place Charles de Gaulle roundabout to ∼ 6000 veh/h, substantially exceeding both advanced MPC-based AVs (∼4700 veh/h) and human-driver baselines (∼3600 veh/h) while minimizing delays. Finally, sensitivity analyses affirmed the framework’s robustness. LFR-MPF offers a practical and effective motion planning solution, demonstrating a viable path toward deploying efficient and safe non-connected AVs in future unstructured traffic environments.
备注：https://doi.org/10.1016/j.aei.2025.104037
论文类型：期刊论文
是否译文：否
发表时间：2025-11-02
收录刊物：SCI