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- W3090420006 abstract "This paper considers the practical aspects of using a control barrier function induced by a robust controlled invariant set for supervising user inputs. Our focus application is path following/lane keeping functionality in advanced driver assist systems. We define specific normalized barrier functions for ellipsoidal and polytopic invariant sets. Then, we use the magnitude of these barriers to determine an optimum safe control input as well to determine when to blend this input with the user's input. This method allows for a smooth overriding of the user input and is well defined in the case that the barrier is violated due, for instance, to model mismatch. The method is demonstrated in a realistic simulation environment. These simulations show the proposed method to be a computationally light way to safeguard user inputs in a smooth manner." @default.
- W3090420006 created "2020-10-08" @default.
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- W3090420006 date "2020-08-01" @default.
- W3090420006 modified "2023-09-26" @default.
- W3090420006 title "Driving with guardian: Blending user inputs with safety ensuring barriers" @default.
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- W3090420006 doi "https://doi.org/10.1109/ccta41146.2020.9206270" @default.
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