Optimal Safe Sequencing and Motion Control for Mixed Traffic Roundabouts

Abstract: This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework jointly optimizes vehicle sequencing and motion control to minimize travel time, energy consumption, and discomfort while ensuring speed-dependent safety guarantees and adhering to velocity and acceleration constraints. This is achieved by integrating (a) a Safe Sequencing (SS) policy that ensures merging safety without requiring any knowledge of HDV behavior, and (b) a Model Predictive Control with Control Lyapunov Barrier Functions (MPC-CLBF) framework, which optimizes CAV motion control while mitigating infeasibility and myopic control issues common in the use of Control Barrier Functions (CBFs) to provide safety guarantees. Simulation results across various traffic demands, CAV penetration rates, and control parameters demonstrate the framework's effectiveness and stability.