Guaranteed vehicle safety control using control-dependent barrier functions

Yiwen Huang, Sze Zheng Yong, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

How to guarantee the safety of autonomous ground vehicles is still a significant challenge, although different active safety control systems have been developed, including techniques based on controlled invariant sets and control barrier functions (CBF) that have been proven to guarantee the safety of dynamic systems. To apply these techniques to vehicle safety control, we regarded an estimated lateral stability region of a vehicle as a controlled invariant set. However, the stability region was found to vary with respect to the system control input, which is normally the steering angle. Therefore, the existing definition of the controlled invariant set, which is independent of control inputs, may not be applicable. In this paper, the definition of a controlled invariant set is extended to a control-dependent invariant set, so that the controlled invariant set can vary with control inputs. Based on the extended definition, a new invariance condition using control-dependent barrier function (CDBF) is proposed and applied to the guaranteed vehicle safety control problem. Finally, the guaranteed vehicle safety control is demonstrated by simulation results.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages983-988
Number of pages6
ISBN (Electronic)9781538679265
DOIs
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period7/10/197/12/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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