Enhancing Safety in Nonlinear Systems: Design and Stability Analysis of Adaptive Cruise Control
Fan Yang, Haoqi Li, Maolong Lv, Jiangping Hu, Qingrui Zhou, Bijoy K. Ghosh
TL;DR
A novel approach to address safety concerns by transforming safety conditions into control constraints with a relative degree of 1.0 is introduced, providing a practical solution to enhance safety for autonomous driving systems operating within the context of affine nonlinear dynamics.
Abstract
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state and input constraints to mitigate risks. However, achieving safety control within the framework of control input constraints, such as collision avoidance and maintaining system states within secure boundaries, presents challenges due to limited options. In this study, we introduce a novel approach to address safety concerns by transforming safety conditions into control constraints with a relative degree of 1. This transformation is facilitated through the design of control barrier functions, enabling the creation of a safety control system for affine nonlinear networks. Subsequently, we formulate a robust control strategy that incorporates safety protocols and conduct a comprehensive analysis of its stability and reliability. To illustrate the effectiveness of our approach, we apply it to a specific problem involving adaptive cruise control. Through simulations, we validate the efficiency of our model in ensuring safety without compromising control performance. Our approach signifies significant progress in the field, providing a practical solution to enhance safety for autonomous driving systems operating within the context of affine nonlinear dynamics.