Control Barrier Function-based Lateral Control of Autonomous Vehicle for Roundabout Crossing

A lateral control scheme is presented to control Autonomous Vehicles (AVs) utilizing the nonlinear dynamics of the vehicle, based on the concepts of Control Lyapunov Functions (CLFs) to enforce stability and High Order Control Barrier Functions (HOCBFs) to impose safety constraints for the vehicle. The control input is then calculated using Quadratic Programming (QP) optimization while limiting the control input due to vehicle limitations and passenger comfort at a roundabout crossing. Simulation results are presented to show the performance of the proposed lateral controller.