我所柳向斌老师课题组完成的论文《Autonomous Vehicle Lane-Change Control Based on Model Predictive Control with Control Barrier Function》于2024-05在《IEEE Data Driven Control and Learning Systems Conference (DDCLS)》正式发表。论文摘要如下：
Abstract: Vehicle lane change is one of the most common driving behaviors. It is of great significance to ensure that the autonomous vehicle can change lanes safely and accurately. Therefore, in this paper, a model predictive control (MPC) strategy combined with control barrier function (CBF) is proposed for autonomous vehicle lane change in driving scenario. MPC method is utilized to design the baseline controller to minimize the tracking errors and control input variations during the lane change for energy saving and passenger driving comfort. The CBF constraint on the states of autonomous vehicle is adopted in controller design to avoid collision with other vehicles. The MPC-CBF controller guaranteeing safety and tracking performance of vehicle lane change is obtained by solving a designed quadratic programming. A numerical simulation is carried out on a vehicle lane change scenario to verify the effectiveness of the proposed controller.
引用信息：Xiaoya Chen, Xiangbin Liu, Min Zhang. Autonomous Vehicle Lane-Change Control Based on Model Predictive Control with Control Barrier Function. IEEE Data Driven Control and Learning Systems Conference (DDCLS), 2024-05. DOI: 10.1109/ddcls61622.2024.10606562