Safety-Guaranteed Control of Coupled Longitudinal and Lateral Vehicle Dynamics by Considering Tire Stability via CDBFs

Abstract

In high-speed emergent driving scenarios of automated ground vehicles (AGVs), a lateral lane changing maneuver is often accompanied by longitudinal deceleration and/or acceleration. Such emergency scenarios not only couple vehicle longitudinal and lateral dynamics but also involve nonlinear, unstable, and coupled longitudinal and lateral tire forces. Therefore, a safety-guaranteed control design considering coupled longitudinal and lateral vehicle dynamics and tire stability is desired. Control Lyapunov function (CLF) and control barrier function (CBF) were integrated to find a safety-guaranteed controller while tracking a reference path. However, CBF cannot describe the control-dependent invariant sets that characterize vehicle lateral stability regions with stable tire forces. Thus, an integrated CLF and control-dependent barrier function (CDBF) control is designed for coupled longitudinal and lateral vehicle dynamics by considering tire stability to ensure vehicle driving safety in emergent driving scenarios. Simulation results are shown to verify the effectiveness of the proposed control design.