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

المؤلفAbduljabbar, M.
المؤلفMeskin, Nader
المؤلفCassandras, C.G.
تاريخ الإتاحة2022-04-14T08:45:36Z
تاريخ النشر2021
اسم المنشورIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
المصدرScopus
المعرّفhttp://dx.doi.org/10.1109/ITSC48978.2021.9565037
معرّف المصادر الموحدhttp://hdl.handle.net/10576/29745
الملخصA 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
راعي المشروعQatar Foundation; Qatar National Research Fund
اللغةen
الناشرInstitute of Electrical and Electronics Engineers Inc.
الموضوعLyapunov functions
Quadratic programming
Autonomous Vehicles
Barriers functions
Control barriers
Control inputs
Control Lyapunov function
Control schemes
Control-Lyapunov functions
Higher order controls
Lateral control
Stability orders
Autonomous vehicles
العنوانControl Barrier Function-based Lateral Control of Autonomous Vehicle for Roundabout Crossing
النوعConference Paper
الصفحات859-864
رقم المجلد2021-September


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