Control Barrier Function-based Lateral Control of Autonomous Vehicle for Roundabout Crossing

被引：12

作者：

Abduljabbar, M. ^{[1
]}

Meskin, N. ^{[1
]}

Cassandras, C. G. ^{[2
]}

机构：

[1] Qatar Univ, Elect Engn, Doha, Qatar

[2] Boston Univ, Dept Elect Engn, Div Syst Engn & Elect & Comp Engn, Boston, MA 02215 USA

来源：

2021 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC) | 2021年

关键词：

PATH TRACKING CONTROL; STEERING CONTROL;

D O I：

10.1109/ITSC48978.2021.9565037

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A lateral control scheme is presented to control Autonomous Vehicles (AVs) utilizing the nonlinear dynamics of the vehicle, based on the concepts of Control Lyapunov Functions (CLFs) to enforce stability and High Order Control Barrier Functions (HOCBFs) to impose safety constraints for the vehicle. The control input is then calculated using Quadratic Programming (QP) optimization while limiting the control input due to vehicle limitations and passenger comfort at a roundabout crossing. Simulation results are presented to show the performance of the proposed lateral controller.

引用

收藏

页码：859 / 864

页数：6

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