Lateral Control of Autonomous Vehicles Using Barrier Lyapunov Function

Guaranteed safety and performance under different cases have significant influence on the development of lateral control of autonomous vehicles. This paper proposes a robust nonlinear controller using barrier Lyapunov function within the constraints. In the case of unknown bounded uncertainty, the barrier Lyapunov function is appropriately arranged into the controller to restrict the state variables of the designed safe region in the process. Thus, the proposed method is composed of the nonlinear controller using barrier Lyapunov function and kalman filter. The kalman filter is designed as an observer to estimate the state variables. At the meantime, the method we proposed meets the constraints of output and the external disturbance. Moreover, the validity of the proposed method is validated in the co-simulation of the MATLAB/Simulink and CarSim.