Autonomous driving is a consistent new trend when discussing future smart cities. Safety guarantees are a crucial concern in the design of vehicle navigation systems operating on heterogeneous environments such as streets and roads, in order to prevent severe harm to passengers and damage to expensive equipment. This chapter proposes a path following control method for vehicle navigation in dynamic and fast response situations such as autonomous driving in a multi-lane highway, guaranteeing collision avoidance between pairs of vehicles and between each vehicle and the lane limits. A Control Lyapunov Function (CLF) and Control Barrier Function (CBF) framework for achieving the aforementioned objective is proposed and implemented by means of a Quadratic Programming (QP)-based controller. Convex barrier functions are proposed for modeling vehicle collisions and B-Splines are used both as paths to be followed and as models for the lane limits. Simulation results using a Python-based framework for vehicle navigation are presented and discussed, demonstrating the viability of the proposed framework for autonomous driving.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Safe Autonomous Multi-vehicle Navigation Using Path Following Control and Spline-Based Barrier Functions


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Publication date :

    2024-04-27


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Parking path planning of autonomous vehicle based on B-spline curve

    Hua, Yiding / Li, Zixi / Wu, Hanbing et al. | SPIE | 2024


    Path Following for Autonomous Vehicle Navigation with Inherent Safety and Dynamics Margin

    Macek, K. / Philippsen, R. / Siegwart, R. | British Library Conference Proceedings | 2008


    Path following for autonomous vehicle navigation with inherent safety and dynamics margin

    Macek, Kristijan / Philippsen, Roland / Siegwart, Roland | IEEE | 2008