With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF)-based approaches. Among them, Exponential CBF (eCBF) is particularly popular due to its realistic applicability to high-relative-degree systems. However, for most of the optimization-based controllers utilizing CBF-based constraints, solution feasibility is a common issue arising from potential conflict among different constraints. Moreover, how to incorporate uncertainty into the eCBF-based constraints in high-relative-degree systems to account for safety remains an open challenge. In this paper, we present a novel approach to extend an eCBF-based safe critical controller to a probabilistic setting to handle potential motion uncertainty from system dynamics. More importantly, we leverage an optimization-based technique to provide a solution feasibility guarantee in run time, while ensuring probabilistic safety. Lane changing and intersection handling are demonstrated as two use cases, and experiment results are provided to show the effectiveness of the proposed approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Provable Probabilistic Safety and Feasibility-Assured Control for Autonomous Vehicles using Exponential Control Barrier Functions


    Beteiligte:
    Van Koevering, Spencer (Autor:in) / Lyu, Yiwei (Autor:in) / Luo, Wenhao (Autor:in) / Dolan, John (Autor:in)


    Erscheinungsdatum :

    05.06.2022


    Format / Umfang :

    1183301 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    SAFETY-ASSURED REMOTE DRIVING FOR AUTONOMOUS VEHICLES

    OSTAFEW CHRISTOPHER / AGUIAR THIAGO / KOBASHI ATSUHIDE et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    SAFETY-ASSURED REMOTE DRIVING FOR AUTONOMOUS VEHICLES

    OSTAFEW CHRISTOPHER / AGUIAR THIAGO / KOBASHI ATSUHIDE et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Safety-Assured Design and Adaptation of Connected and Autonomous Vehicles

    Chen, Xin / Fan, Jiameng / Huang, Chao et al. | Springer Verlag | 2023


    Real-Time Safety-Assured Autonomous Aircraft

    Chambers, Jeffrey T. / Baltadjiev, Nikola / Cowlagi, Raghvendra V. | AIAA | 2016