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Connected Autonomous Vehicle (CAV) is considered as a proposal toward sustainable mobility. In order to succeed in a sustainable mobility solution, “CAV” or more precisely “CAV Transport System” should prove to be low energy, safe, and allow better performances than human-driven vehicles. This paper will propose a system architecture for a sustainable CAV Transport System on a standard scenario: crossing a roundabout. Nowadays, roundabouts are very common and practical crossing alternatives to improve the traffic flow and increase safety. This study aims to simulate and analyze the behavior of connected autonomous vehicles crossing a roundabout using a V2I (vehicle-to-infrastructure) architecture. The vehicles are exchanging information with a so-called central signaling unit. All vehicles are exchanging their position, speed, and target destination. The central signaling unit has a global view of the system compared to each ego vehicle (has more local than global information); thus, can safely and efficiently manage the traffic of the vehicles in the roundabout using a standard signaling block strategy. This strategy of decision of the central signaling unit (CSU) is performed by dividing the roundabout into several zones/blocks which can be booked by only one vehicle at a time. A solver, reproducing a vehicle’s behavior and dynamics, computes the trajectory and velocity of each vehicle depending on its surroundings. Finally, a graphical representation is used and implemented to facilitate the analysis and visualization of the roundabout crossing. The vehicle flow performance of the developed traffic control model is compared with SUMO. Full article