Analysis of Control Barrier Function Framework for Safety-Critical Control of Connected Automated Vehicles
Yu, John; Alan, Anil; Molnar, Tamas G; Orosz, Gabor
2022
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JYu_Honors_Capstone_Paper_-_John_Yu.pdf
Honors Capstone Paper: Analysis of Control Barrier Function Framework for Safety-Critical Control of Connected Automated Vehicles
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JYu_Honors_Capstone_Poster_-_John_Yu.pdf
Honors Capstone Poster: Analysis of Control Barrier Function Framework for Safety-Critical Control of Connected Automated Vehicles
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JYu_Honors_Capstone_Presentation_-_John_Yu.pdf
Honors Capstone Presentation: Analysis of Control Barrier Function Framework for Safety-Critical Control of Connected Automated Vehicles
(1.6MB
PDF)Honors Capstone Presentation: Analysis of Control Barrier Function Framework for Safety-Critical Control of Connected Automated Vehicles
Abstract
Vehicle-to-vehicle (V2V) connectivity has gained traction in the automated ve- hicle space for its potential to improve congestion mitigation, fuel economy, and vehicle safety. V2V connectivity refers to when automated vehicles ex- change data with other nearby vehicles to inform their driving. In this way, the vehicles are now ‘connected’. However, the current lack of a control frame- work with provable safety guarantees for V2V connected vehicles prevents this form of automation from being applicable outside of the academic setting. The objective of this project was to develop a V2V safety-critical controller via con- trol barrier function (CBF) framework and apply this framework to models of increasing fidelity, from the 1 state to 4 state model case. Due to the complex- ity of real car dynamics, this paper approximates the vehicle with integrator, unicycle, and bicycle models and characterizes general controller behaviors for these models. Simulations of the CBF framework applied to these three models were conducted in MatLab and characteristic vehicle behaviors were analyzed for varying parameter values and initial conditions. Particular behaviors of interest were examined to find 1. initial (velocity) conditions that do not sat- isfy the safety condition 2. vehicle switching position between nominal and safety-critical control as a function of parameters, and 3. vehicle freezing as a function of parameters. These behaviors are useful in characterizing when the CBF framework controller is effective in delivering desirable safety-critical driving, giving a better understanding of how to engineer safety guarantees for V2V vehicles. Keywords: V2V connectivity, autonomous vehicles, safety-critical control, control barrier function framework, extended barriers, integrator model, unicycle model, bicycle model, nominal to safety-critical switching, vehicle controller freezing, vehicle model parametersDeep Blue DOI
Subjects
V2V connectivity autonomous vehicles safety-critical control control barrier function framework extended barriers integrator model unicycle model bicycle model nominal to safety-critical switching vehicle controller freezing vehicle model parameters
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