This paper introduces a procedure for controlling autonomous vehicles entering roundabouts. The aim of the centralized controller is to define the velocity profile of each autonomous vehicle by which collisions can be avoided and traveling times can be minimized. To achieve these performances, a model predictive control is introduced based on the solution of an analytical calculation of traveling times spent in the roundabout and designing the autonomous vehicles’ velocity profiles in order to avoid conflict situations while ensuring a time-optimal solution. By the application of the proposed procedure, safety of autonomous vehicles can be enhanced and the possibility of a forming congestion can be minimized. The operation of the proposed method is demonstrated by a few simulation examples in the CarSim simulation environment.

The aim of the paper is to describe a multicriteria model predictive control method for autonomous vehicles at non-signalized intersections. The centralized controller aims to describe control action for each autonomous vehicle to guarantee collision free passage. At the same time, performances are defined for the centralized Model Predictive Controller, namely the minimization of traveling time and energy consumption. Since these control goals are often conflicting, a scheduling variable is introduced to create a balance between them. Hence, the centralized controller can be tuned based on the importance of each control goal, which can be useful in urban environment where traffic densities may vary heavily depending on the period of the day. The effectiveness of the proposed centralized multicriteria controller is demonstrated through a complex simulation example in CarSim simulation environment using different tpye of autonomous vehicles.

This paper summarizes how European road traffic regulation has evolved in response to the rise of automation and autonomous vehicles. International lawmakers face the challenge of creating up-to-date legal frameworks that support safe and lawful deployment of autonomous systems. The European Union (EU) aims to harmonize fragmented national laws into consistent standards, enabling cross-border operation and ensuring clarity in liability, approval, and data management. These efforts support innovation, reduce market fragmentation, and promote a sustainable, intelligent transport system across Europe. The study also reviews long-standing international agreements and how lawmakers are adapting to rapid technological advances and competitive pressures from the automotive industry.