  Controlling automated vehicles on large lane-free roundabouts is challenging
because of the geometrical complexity and frequent conflicts among entering,
rotating, and exiting vehicles. This paper proposes a comprehensive methodology
to control the vehicles within the roundabout and the connected road branches.
The developed real-time vehicle movement strategy relies on offline-computed
wide overlapping movement corridors, one for each Origin-Destination (OD)
movement, which delineate the admissible movement zones of corresponding OD
vehicles. Also, space-dependent desired orientations are determined by
destination, so as to mitigate potential vehicle conflicts and reduce trip
distance. A distributed (per vehicle) movement control strategy, using two
nonlinear feedback controllers (NLFC), for circular and straight movements,
respectively, is employed to navigate each vehicle within the respective OD
corridor toward its destination, accounting for the desired orientation and
avoiding collisions with other vehicles; while boundary controllers guarantee
that the corridor boundaries will not be violated, and the exit will not be
missed. As an overly complicated case study, we consider the famous roundabout
of Place Charles de Gaulle in Paris, featuring a width of 38 m and comprising a
dozen of bidirectional radial streets, hence a total of 144 ODs. The pertinence
and effectiveness of the presented method is verified via microscopic
simulation and evaluation of macroscopic data.
