TY - JOUR
T1 - Stability Control of Autonomous Ground Vehicles Using Control-Dependent Barrier Functions
AU - Huang, Yiwen
AU - Yong, Sze Zheng
AU - Chen, Yan
N1 - Funding Information:
This work was supported in part by the National Science Foundation Grant CNS-1943545.
Publisher Copyright:
© 2016 IEEE.
PY - 2021/12/1
Y1 - 2021/12/1
N2 - In the development of autonomous ground vehicles (AGVs), guaranteeing vehicle driving safety is a major concern. Among various aspects that need to be thoughtfully considered for driving safety, vehicle stability is one of the most fundamental and important factors. In this paper, to describe a guaranteed vehicle stability control problem, a new time-varying control-dependent invariant set is introduced. Correspondingly, the concept of a time-varying control-dependent barrier function (CDBF) is proposed. The proposed time-varying CDBF is more general than conventional control barrier functions (CBF), since we additionally consider invariant sets that can be time-varying and control-dependent, which will have broader applications. Then, using the proposed framework, we design a vehicle stability control algorithm, which guarantees that the vehicle states are always kept in the time-varying and control-dependent lateral stability regions. Finally, the correctness and effectiveness of the proposed theory and control method are verified and discussed through illustrative simulation results of high-speed J-turn and double lane change maneuvers for an AGV.
AB - In the development of autonomous ground vehicles (AGVs), guaranteeing vehicle driving safety is a major concern. Among various aspects that need to be thoughtfully considered for driving safety, vehicle stability is one of the most fundamental and important factors. In this paper, to describe a guaranteed vehicle stability control problem, a new time-varying control-dependent invariant set is introduced. Correspondingly, the concept of a time-varying control-dependent barrier function (CDBF) is proposed. The proposed time-varying CDBF is more general than conventional control barrier functions (CBF), since we additionally consider invariant sets that can be time-varying and control-dependent, which will have broader applications. Then, using the proposed framework, we design a vehicle stability control algorithm, which guarantees that the vehicle states are always kept in the time-varying and control-dependent lateral stability regions. Finally, the correctness and effectiveness of the proposed theory and control method are verified and discussed through illustrative simulation results of high-speed J-turn and double lane change maneuvers for an AGV.
KW - Control-dependent barrier functions
KW - autonomous ground vehicles
KW - four-wheel steering
KW - safety control
KW - vehicle stability control
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U2 - 10.1109/TIV.2021.3058064
DO - 10.1109/TIV.2021.3058064
M3 - Article
AN - SCOPUS:85101449640
VL - 6
SP - 699
EP - 710
JO - IEEE Transactions on Intelligent Vehicles
JF - IEEE Transactions on Intelligent Vehicles
SN - 2379-8858
IS - 4
ER -