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arXiv · 2103.12382

Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change

Suiyi He·Jun Zeng·Bike Zhang·Koushil Sreenath
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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.

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Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath. 2021-03-23. Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. https://arxiv.org/abs/2103.12382

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