Name
Title | ||
|---|---|---|
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change |
Abstract | ||
|---|---|---|
This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization problem using control Lyapunov functions and control barrier functions (CLF-CBF-QP) is used to calculate the system's optimal inputs via rule-based control strategies. The FSM can make switches between different states automatically according to the command of driver and traffic environment, which makes the ego vehicle find a safe opportunity to do a collision-free lane change maneuver. By using a convex quadratic program, the controller can guarantee the system's safety at a high update frequency. A set of pre-designed typical lane change scenarios as well as randomly generated driving scenarios are simulated to show the performance of our controller. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.23919/ACC50511.2021.9482848 | 2021 American Control Conference (ACC) |
Keywords | DocType | ISSN |
rule-based safety-critical control design,control barrier functions,autonomous lane change,vehicle,lane change maneuvers,complex traffic environment,finite state machine,FSM,quadratic program based optimization problem,control Lyapunov functions,CLF-CBF-QP,system,rule-based control strategies,collision-free lane change maneuver,convex quadratic program,pre-designed typical lane change scenarios | Conference | 0743-1619 |
ISBN | Citations | PageRank |
978-1-7281-9704-3 | 1 | 0.39 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Suiyi He | 1 | 1 | 0.39 |
| Jun Zeng | 2 | 1 | 1.74 |
| Bike Zhang | 3 | 1 | 2.08 |
| Koushil Sreenath | 4 | 358 | 33.41 |