Abstract
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.
Original language | English (US) |
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Journal | IEEE Transactions on Intelligent Vehicles |
DOIs | |
State | Accepted/In press - 2021 |
Keywords
- autonomous ground vehicles
- Autonomous vehicles
- Control-dependent barrier functions
- four-wheel steering
- Land vehicles
- Safety
- safety control
- Stability criteria
- Time-varying systems
- Vehicle dynamics
- vehicle stability control
- Wheels
ASJC Scopus subject areas
- Artificial Intelligence
- Automotive Engineering
- Control and Optimization