Fig 1.
A typical single-lane roundabouts.
Fig 2.
Geometric programming method.
Fig 3.
Geometric parameter diagram.
Fig 4.
Roundabout layout with CAVs.
Fig 5.
Conflict model.
Fig 6.
Conflict model II.
Fig 7.
Procedure for generating a solution.
Fig 8.
Model of single conflict point.
Fig 9.
Search of reaching time for the four cases.
(a) Case I. (b) Case II.(c) Case III. (d) Case IV.
Fig 10.
The layout of the roundabout on Kaizhou Road in Puyang City.
Table 1.
Distance from origin line to each conflict point from phase a.
Table 2.
CAVs’ initial conditions for the high-speed simulation.
Table 3.
CAVs’ initial conditions for the mixed-speed simulation.
Table 4.
CAVs’ initial conditions for the low-speed simulation.
Table 5.
Time and minimum time interval when vehicles reach each conflict point for simulation I.
Fig 11.
Analysis result curve of CAVs running in the takeover zone of Simulation I.
(a) Displacement profiles. (b) Velocity profiles.
Fig 12.
Analysis result curve of CAVs running in the takeover zone of Simulation II.
(a) Displacement profiles. (b) Velocity profiles.
Fig 13.
Analysis result curve of CAVs running in the takeover zone of Simulation III.
(a) Displacement profiles. (b) Velocity profiles.
Fig 14.
Comparison between MAD and MBB in Simulation I.
(a) Δt = 0.1s. (b) Δt = 0.2s.