TY - JOUR
T1 - Safety-Guaranteed Driving Control of Automated Vehicles via Integrated CLFs and CDBFs
AU - Huang, Yiwen
AU - Chen, Yan
N1 - Publisher Copyright:
Copyright © 2021 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
PY - 2021/11/1
Y1 - 2021/11/1
N2 - To achieve certain automated driving control with guaranteed driving safety, such as an automatic lane change with a high speed on a low friction road (for emergent obstacle avoidance), an appropriate vehicle control design satisfying multiple safety constraints is required. An integration of control Lyapunov functions (CLFs) with control barrier functions (CBFs) is an effective method to simultaneously achieve good tracking control performance and satisfy safety constraints. However, for automated vehicle (AV) control, CBF may not be applicable since some AV safety constraints are time-varying and/or control-dependent. To handle the control-dependent and time-varying safety constraints, control-dependent barrier functions (CDBF) and time-varying CBFs (TCBFs) are integrated with CLFs in a quadratic programming problem, which aims to achieve good tracking control with guaranteed vehicle safety. In the integration, the mismatch between different forms of constraints is coordinated by using the second-order invariant constraints. To verify the effectiveness of the proposed methods, CarSim®/Simulink co-simulations were conducted and comparisons are presented and discussed.
AB - To achieve certain automated driving control with guaranteed driving safety, such as an automatic lane change with a high speed on a low friction road (for emergent obstacle avoidance), an appropriate vehicle control design satisfying multiple safety constraints is required. An integration of control Lyapunov functions (CLFs) with control barrier functions (CBFs) is an effective method to simultaneously achieve good tracking control performance and satisfy safety constraints. However, for automated vehicle (AV) control, CBF may not be applicable since some AV safety constraints are time-varying and/or control-dependent. To handle the control-dependent and time-varying safety constraints, control-dependent barrier functions (CDBF) and time-varying CBFs (TCBFs) are integrated with CLFs in a quadratic programming problem, which aims to achieve good tracking control with guaranteed vehicle safety. In the integration, the mismatch between different forms of constraints is coordinated by using the second-order invariant constraints. To verify the effectiveness of the proposed methods, CarSim®/Simulink co-simulations were conducted and comparisons are presented and discussed.
KW - Actuator dynamics
KW - Control-dependent barrier functions
KW - Safety guaranteed control
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U2 - 10.1016/j.ifacol.2021.11.168
DO - 10.1016/j.ifacol.2021.11.168
M3 - Conference article
AN - SCOPUS:85124587650
SN - 2405-8963
VL - 54
SP - 153
EP - 159
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 20
T2 - 2021 Modeling, Estimation and Control Conference, MECC 2021
Y2 - 24 October 2021 through 27 October 2021
ER -