Control-sharing Control Barrier Functions for Intersection Automation under Input Constraints

TL;DR

This paper presents a centralized control framework using multiple control barrier functions to ensure safe, input-constrained coordination of automated agents at intersections, with proven feasibility and safety guarantees.

Contribution

It introduces a novel collision avoidance control barrier function and a control-sharing property ensuring joint feasibility under input constraints.

Findings

The control scheme guarantees collision avoidance.

Simulation confirms safety of the proposed method.

The approach ensures joint feasibility of safety constraints.

Abstract

This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a novel CBF which is safe by construction. The given control scheme provides provable guarantees that collision avoidance CBFs and CBFs to constrain the agents' velocity are jointly feasible (referred to as control-sharing property) subject to input constraints. A simulation study finally provides evidence that the proposed control scheme is safe.