Jiang, Chenhuan and Gan, Hanyu and Vörös, Illés and Takács, Dénes and Orosz, Gábor (2024) Safety Filter for Lane-Keeping Control. LECTURE NOTES IN MECHANICAL ENGINEERING. pp. 371-377. ISSN 2195-4356
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Abstract
A safe lane-keeping controller is designed using a control barrier function (CBF) which ensures that if the vehicle starts between the lane boundaries then it does not leave the lane. The safety filter is applied on the top of a nominal path-following controller of the kinematic single-track model in order to modify the control input when the vehicle gets close to the boundary of the safe set in state space. Numerical simulations and phase portraits are used to demonstrate the performance of the proposed safety-critical controller. © The Author(s) 2024.
| Item Type: | Article |
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| Additional Information: | Funding Agency and Grant Number: Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences; National Research, Development and Innovation Office [NKFI-146201, 2020-1.2.4-TET-IPARI-2021-00012]; Rosztoczy Foundation Funding text: The research reported in this paper was partly supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences, the National Research, Development and Innovation Office under grant no. NKFI-146201 and 2020-1.2.4-TET-IPARI-2021-00012 and by the Rosztoczy Foundation. |
| Uncontrolled Keywords: | Automatedvehicles, Control barrier function, Lane-keeping control, Safety critical control |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2025 10:19 |
| Last Modified: | 19 Sep 2025 10:19 |
| URI: | https://real.mtak.hu/id/eprint/224619 |
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