The safe execution of lane changes on curved roads is a critical research field. However, managing potential conflicts between safety constraints and lane change objectives pose significant challenges for the controller design of lane change on curved roads. First, the quadratic program (QP) is utilized to unify the formulation of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs). The CLF-CBF-QP controller employs the information from surrounding vehicles to achieve the switch between different forms of CLFs and CBFs. Finally, the performance of the proposed controller is evaluated through rigorous testing in typical traffic scenarios, and the results demonstrate that the proposed controller exhibits commendable safety, precision, and robustness.
Safety-Critical Lane Change Control of Autonomous Vehicles on Curved Roads Based on Control Barrier Functions
2023-10-16
1875101 byte
Conference paper
Electronic Resource
English
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